AcTExplore: 未知物体の能動的触覚探索
AcTExplore: Active Tactile Exploration of Unknown Objects
強化学習を用いて触覚センサで未知物体の表面を効率的に探索し、3D形状を再構成する手法を提案。未見のYCB物体で平均95.97%のIoUカバレッジを達成した。
著者: Amir-Hossein Shahidzadeh, Seong Jong Yoo, Pavan Mantripragada, Chahat Deep Singh, Cornelia Fermüller, Yiannis Aloimonos
分類: cs.RO, cs.CV
原文アブストラクト
Tactile exploration plays a crucial role in understanding object structures for fundamental robotics tasks such as grasping and manipulation. However, efficiently exploring such objects using tactile sensors is challenging, primarily due to the large-scale unknown environments and limited sensing coverage of these sensors. To this end, we present AcTExplore, an active tactile exploration method driven by reinforcement learning for object reconstruction at scales that automatically explores the object surfaces in a limited number of steps. Through sufficient exploration, our algorithm incrementally collects tactile data and reconstructs 3D shapes of the objects as well, which can serve as a representation for higher-level downstream tasks. Our method achieves an average of 95.97% IoU coverage on unseen YCB objects while just being trained on primitive shapes. Project Webpage: https://prg.cs.umd.edu/AcTExplore
