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Recently, we proposed an exception strategy learning framework based on statistical learning and context determination, which can successfully resolve such situations. This paper deals with context determination from multimodal data, which is the key component of our framework. We propose a novel approach to generate unified low-dimensional context descriptions based on image and force-torque data. For this purpose, we combine a state-of-the-art neural network model for image segmentation and contact point estimation using force-torque measurements. An ensemble of decision trees is used to combine features from the two modalities. To validate the proposed approach, we have collected datasets of deliberately induced insertion failures both for the classic peg-in-hole insertion task and for an industrially relevant task of car starter assembly. We demonstrate that the proposed approach generates reliable low-dimensional descriptors, suitable as queries necessary in statistical learning.<\/jats:p>","DOI":"10.3390\/s22207962","type":"journal-article","created":{"date-parts":[[2022,10,19]],"date-time":"2022-10-19T22:19:53Z","timestamp":1666217993000},"page":"7962","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Determining Exception Context in Assembly Operations from Multimodal Data"],"prefix":"10.3390","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0346-7082","authenticated-orcid":false,"given":"Mihael","family":"Simoni\u010d","sequence":"first","affiliation":[{"name":"Department of Automatics, Biocybernetics and Robotics, Jo\u017eef Stefan Institute, Jamova Cesta 39, 1000 Ljubljana, Slovenia"},{"name":"Faculty of Electrical Engineering, University of Ljubljana, Tr\u017ea\u0161ka Cesta 25, 1000 Ljubljana, Slovenia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0811-5027","authenticated-orcid":false,"given":"Matev\u017e","family":"Majcen Hrovat","sequence":"additional","affiliation":[{"name":"Department of Automatics, Biocybernetics and Robotics, Jo\u017eef Stefan Institute, Jamova Cesta 39, 1000 Ljubljana, Slovenia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2363-712X","authenticated-orcid":false,"given":"Sa\u0161o","family":"D\u017eeroski","sequence":"additional","affiliation":[{"name":"Department of Knowledge Technologies, Jo\u017eef Stefan Institute, Jamova 39, 1000 Ljubljana, Slovenia"},{"name":"Jo\u017eef Stefan International Postgraduate School, Jamova Cesta 39, 1000 Ljubljana, Slovenia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3677-3972","authenticated-orcid":false,"given":"Ale\u0161","family":"Ude","sequence":"additional","affiliation":[{"name":"Department of Automatics, Biocybernetics and Robotics, Jo\u017eef Stefan Institute, Jamova Cesta 39, 1000 Ljubljana, Slovenia"},{"name":"Faculty of Electrical Engineering, University of Ljubljana, Tr\u017ea\u0161ka Cesta 25, 1000 Ljubljana, Slovenia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8728-7731","authenticated-orcid":false,"given":"Bojan","family":"Nemec","sequence":"additional","affiliation":[{"name":"Department of Automatics, Biocybernetics and Robotics, Jo\u017eef Stefan Institute, Jamova Cesta 39, 1000 Ljubljana, Slovenia"},{"name":"Jo\u017eef Stefan International Postgraduate School, Jamova Cesta 39, 1000 Ljubljana, Slovenia"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2022,10,19]]},"reference":[{"key":"ref_1","unstructured":"International Federation of Robotics (2021). 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