点群からの時空間抽象化による変形物体操作の計画
Planning with Spatial-Temporal Abstraction from Point Clouds for Deformable Object Manipulation
点群を潜在ベクトルに変換し、スキル系列を計画することで、包丁やローラーなど複数の道具を使う変形物体操作を実世界で実現した。
著者: Xingyu Lin, Carl Qi, Yunchu Zhang, Zhiao Huang, Katerina Fragkiadaki, Yunzhu Li, Chuang Gan, David Held
分類: cs.RO, cs.AI
原文アブストラクト
Effective planning of long-horizon deformable object manipulation requires suitable abstractions at both the spatial and temporal levels. Previous methods typically either focus on short-horizon tasks or make strong assumptions that full-state information is available, which prevents their use on deformable objects. In this paper, we propose PlAnning with Spatial-Temporal Abstraction (PASTA), which incorporates both spatial abstraction (reasoning about objects and their relations to each other) and temporal abstraction (reasoning over skills instead of low-level actions). Our framework maps high-dimension 3D observations such as point clouds into a set of latent vectors and plans over skill sequences on top of the latent set representation. We show that our method can effectively perform challenging sequential deformable object manipulation tasks in the real world, which require combining multiple tool-use skills such as cutting with a knife, pushing with a pusher, and spreading the dough with a roller.
