siyulw2025/aic-phase-classifier

AIC Phase Classifier

ResNet18 late-fusion classifier for 4 cable insertion phases.

Phases

Index	Name	Description
0	approach	Moving toward target
1	coarse_align	Wrist rotation for alignment
2	fine_align	Fine positioning before insertion
3	insert	Cable insertion into port

Architecture

• Backbone: ResNet18 (ImageNet-pretrained)
• Input: 3 camera views (left, center, right) at 224×224
• Fusion: Concat 3×512-d features → Linear(1536, 256) → ReLU → Linear(256, 4)
• Params: ~11M