タスク難易度を考慮した投擲動作による効率的な物体配置

原文アブストラクト

This study explores a pick-and-toss (PT) as an alternative to pick-and-place (PP), allowing a robot to extend its range and improve task efficiency. Although PT boosts efficiency in object arrangement, the placement environment critically affects the success of tossing. To achieve accurate and efficient object arrangement, we suggest choosing between PP and PT based on task difficulty estimated from the placement environment. Our method simultaneously learns the tossing motion through self-supervised learning and the task determination policy via brute-force search. Experimental results validate the proposed method through simulations and real-world tests on various rectangular object arrangements.