Multi-Contact Task and Motion Planning Guided by Video Demonstration

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21730%2F23%3A00371946" target="_blank" >RIV/68407700:21730/23:00371946 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.1109/ICRA48891.2023.10161551" target="_blank" >https://doi.org/10.1109/ICRA48891.2023.10161551</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ICRA48891.2023.10161551" target="_blank" >10.1109/ICRA48891.2023.10161551</a>

Result language

angličtina

Original language name

Multi-Contact Task and Motion Planning Guided by Video Demonstration

Original language description

This work aims at leveraging instructional video to guide the solving of complex multi-contact task-and-motion planning tasks in robotics. Towards this goal, we propose an extension of the well-established Rapidly-Exploring Random Tree (RRT) planner, which simultaneously grows multiple trees around grasp and release states extracted from the guiding video. Our key novelty lies in combining contact states, and 3D object poses extracted from the guiding video with a traditional planning algorithm that allows us to solve tasks with sequential dependencies, for example, if an object needs to be placed at a specific location to be grasped later. To demonstrate the benefits of the proposed video-guided planning approach, we design a new benchmark with three challenging tasks: (i) 3D re-arrangement of multiple objects between a table and a shelf, (ii) multi-contact transfer of an object through a tunnel, and (iii) transferring objects using a tray in a similar way a waiter transfers dishes. We demonstrate the effectiveness of our planning algorithm on several robots, including the Franka Emika Panda and the KUKA KMR iiwa.

Czech name

—

Czech description

—

Type

D - Article in proceedings

CEP classification

—

OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

<a href="/en/project/EF15_003%2F0000468" target="_blank" >EF15_003/0000468: Intelligent Machine Perception</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Publication year

2023

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

2023 IEEE International Conference on Robotics and Automation

ISBN

979-8-3503-2365-8

ISSN

1050-4729

e-ISSN

2577-087X

Number of pages

7

Pages from-to

3764-3770

Publisher name

IEEE

Place of publication

Piscataway

Event location

Londýn

Event date

May 29, 2023

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

001036713003024