论文标题
脱透性:可变形的操作可能会变得轻而易举
DextAIRity: Deformable Manipulation Can be a Breeze
论文作者
论文摘要
本文介绍了Dexairity,这是一种使用活动气流来操纵可变形物体的方法。与常规的基于接触的准静态操作相反,脱XTAIRTICE使系统能够在接触式表面上施加密集的力,扩大系统的到达范围,并提供安全的高速相互作用。当操纵具有较大表面积或体积的可变形物体时,这些特性尤其有利。我们通过两个具有挑战性的可变形物体操纵任务来证明脱骨的有效性:布置和袋子打开。我们提出了一个自我监督的学习框架,该框架学会通过一系列抓紧或基于空气的吹气行动有效地执行目标任务。通过使用闭环公式进行吹吹,系统可以根据视觉反馈连续调整其吹式方向,从而对高度随机动力学具有鲁棒性。我们将算法部署在现实世界中的三臂系统上,并有证据表明,脱透性可以提高系统效率,以提高挑战可变形的操纵任务,例如布料展开,并启用新的应用程序不切实际地解决基于准静态接触的操作(例如,袋子,袋子开放)。视频可从https://youtu.be/_b0tpaa5tvo获得
This paper introduces DextAIRity, an approach to manipulate deformable objects using active airflow. In contrast to conventional contact-based quasi-static manipulations, DextAIRity allows the system to apply dense forces on out-of-contact surfaces, expands the system's reach range, and provides safe high-speed interactions. These properties are particularly advantageous when manipulating under-actuated deformable objects with large surface areas or volumes. We demonstrate the effectiveness of DextAIRity through two challenging deformable object manipulation tasks: cloth unfolding and bag opening. We present a self-supervised learning framework that learns to effectively perform a target task through a sequence of grasping or air-based blowing actions. By using a closed-loop formulation for blowing, the system continuously adjusts its blowing direction based on visual feedback in a way that is robust to the highly stochastic dynamics. We deploy our algorithm on a real-world three-arm system and present evidence suggesting that DextAIRity can improve system efficiency for challenging deformable manipulation tasks, such as cloth unfolding, and enable new applications that are impractical to solve with quasi-static contact-based manipulations (e.g., bag opening). Video is available at https://youtu.be/_B0TpAa5tVo