论文标题
学习重新排列可变形的电缆,面料和包装的袋子,并具有目标条件的运输车网络
Learning to Rearrange Deformable Cables, Fabrics, and Bags with Goal-Conditioned Transporter Networks
论文作者
论文摘要
重新安排和操纵可变形物体(例如电缆,织物和袋子)是机器人操纵的长期挑战。与刚性对象相比,变形物的复杂动力学和高维配置空间,不仅使操作不仅对于多步规划,而且对于目标规范而言也很困难。目标不能像刚性对象姿势那样容易指定,并且可能涉及复杂的相对空间关系,例如“将物品放入袋中”。在这项工作中,我们开发了一套具有1D,2D和3D变形结构的模拟基准,包括涉及基于图像的目标调节和多步变形操作的任务。我们建议将目标调节嵌入到运输者网络中,这是一种用于学习机器人操作的最近提出的模型体系结构,重新安排深层特征以推断可以代表挑选和放置动作的位移。在模拟和物理实验中,我们证明了目标条件转运蛋白网络使代理可以将可变形的结构操纵为灵活的指定配置,而无需用于目标位置的测试时间视觉锚点。我们还使用转运蛋白网络来显着扩展先前的结果,通过对具有2D和3D变形物的任务进行测试来操纵可变形对象。可从https://berkeleyautomation.github.io/bags/获得补充材料。
Rearranging and manipulating deformable objects such as cables, fabrics, and bags is a long-standing challenge in robotic manipulation. The complex dynamics and high-dimensional configuration spaces of deformables, compared to rigid objects, make manipulation difficult not only for multi-step planning, but even for goal specification. Goals cannot be as easily specified as rigid object poses, and may involve complex relative spatial relations such as "place the item inside the bag". In this work, we develop a suite of simulated benchmarks with 1D, 2D, and 3D deformable structures, including tasks that involve image-based goal-conditioning and multi-step deformable manipulation. We propose embedding goal-conditioning into Transporter Networks, a recently proposed model architecture for learning robotic manipulation that rearranges deep features to infer displacements that can represent pick and place actions. In simulation and in physical experiments, we demonstrate that goal-conditioned Transporter Networks enable agents to manipulate deformable structures into flexibly specified configurations without test-time visual anchors for target locations. We also significantly extend prior results using Transporter Networks for manipulating deformable objects by testing on tasks with 2D and 3D deformables. Supplementary material is available at https://berkeleyautomation.github.io/bags/.