Structural Concept Learning via Graph Attention for Multi-Level Rearrangement PlanningDownload PDF

Published: 30 Aug 2023, Last Modified: 03 Jul 2024CoRL 2023 PosterReaders: Everyone
Keywords: Rearrangement Planning, Robot Manipulation, Graph Attention
TL;DR: We present SCL: A scalable graph attention network based approach for object rearrangement planning to build complex, multi-level structures.
Abstract: Robotic manipulation tasks, such as object rearrangement, play a crucial role in enabling robots to interact with complex and arbitrary environments. Existing work focuses primarily on single-level rearrangement planning and, even if multiple levels exist, dependency relations among substructures are geometrically simpler, like tower stacking. We propose Structural Concept Learning (SCL), a deep learning approach that leverages graph attention networks to perform multi-level object rearrangement planning for scenes with structural dependency hierarchies. It is trained on a self-generated simulation data set with intuitive structures, works for unseen scenes with an arbitrary number of objects and higher complexity of structures, infers independent substructures to allow for task parallelization over multiple manipulators, and generalizes to the real world. We compare our method with a range of classical and model-based baselines to show that our method leverages its scene understanding to achieve better performance, flexibility, and efficiency. The dataset, demonstration videos, supplementary details, and code implementation are available at:
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