视觉灵巧:手动重新定位新和复杂的物体形状
Tao Chen1,2, Megha Tippur2, Siyang Wu3
1Improbable AI Laboratory, Massachusetts Institute of Technology, Cambridge, MA 02139, USA.
Science robotics
|November 22, 2023
概括
机器人现在可以使用单个深度摄像头实时重新定位各种物体. 这个系统克服了以前的局限性,使复杂任务的操作更加灵巧.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 人工智能的人工智能
- 计算机视觉 计算机视觉
背景情况:
- 对于工具使用等任务至关重要的敏捷操作,在当前的机器人中是有限的,特别是在非结构化的环境中.
- 现有的对象重定位系统通常依赖于简化的对象形状,有限的运动范围,缓慢的操纵或专用传感器,阻碍了现实世界的应用.
研究的目的:
- 开发一种通用的对象重定向控制器,能够实时处理复杂和新的对象形状.
- 克服以前的重定向系统的局限性,包括对象特异性,操纵速度和传感器要求.
主要方法:
- 用一种强化学习方法在模拟中训练重定向控制器.
- 该系统利用来自单个商品深度摄像头的数据进行动态重定位.
- 在新型物体形状上进行了现实世界的评估,包括对手重力进行具有挑战性的重新定位.
主要成果:
- 对于复杂的物体,控制器实现了大约7秒的中位重新定位时间.
- 该系统可以在没有事先训练的情况下实时重新定位新的物体形状.
- 在具有挑战性的场景中,控制器在成功时75%的时间内重新定位了0.4半径 (23°) 内的物体.
结论:
- 开发的控制器为实时对象重定向提供了一个通用的解决方案,超越了以前方法的许多限制.
- 使用负担得起的开源硬件使该系统在现实世界部署时变得实用.
- 可以进一步提高绝对性能,特别是在高度复杂的操纵任务中.
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