粒状媒体中の物体を触覚で探索・把持するロボットシステムGEOTACT
Tactile-based Object Retrieval From Granular Media
触覚フィードバックのみを用いた学習により、粒状環境に埋もれた未知形状の物体を把持・回収するロボットシステムを開発し、実機へのゼロショット転移を実現した。
著者: Jingxi Xu, Yinsen Jia, Dongxiao Yang, Patrick Meng, Xinyue Zhu, Zihan Guo, Shuran Song, Matei Ciocarlie
分類: cs.RO, cs.AI, cs.LG
原文アブストラクト
We introduce GEOTACT, the first robotic system capable of grasping and retrieving objects of potentially unknown shapes buried in a granular environment. While important in many applications, ranging from mining and exploration to search and rescue, this type of interaction with granular media is difficult due to the uncertainty stemming from visual occlusion and noisy contact signals. To address these challenges, we use a learning method relying exclusively on touch feedback, trained end-to-end with simulated sensor noise. We show that our problem formulation leads to the natural emergence of learned pushing behaviors that the manipulator uses to reduce uncertainty and funnel the object to a stable grasp despite spurious and noisy tactile readings. We introduce a training curriculum that bootstraps learning in simulated granular environments, enabling zero-shot transfer to real hardware. Despite being trained only on seven objects with primitive shapes, our method is shown to successfully retrieve 35 different objects, including rigid, deformable, and articulated objects with complex shapes. Videos and additional information can be found at https://jxu.ai/geotact.
