AdaManip: Adaptive Articulated Object Manipulation Environments and Policy Learning
Keywords: Articulated Object Manipulation, Adaptive Mechanism Environments, Imitation Learning
Abstract: Articulated object manipulation is a critical capability for robots to perform various tasks in real-world scenarios. Composed of multiple parts connected by joints, articulated objects are endowed with diverse functional mechanisms through complex relative motions. For example, a safe consists of a door, a handle, and a lock, where the door can only be opened when the latch is unlocked. The internal structure, such as the state of a lock or joint angle constraints, cannot be directly observed from visual observation. Consequently, successful manipulation of these objects requires adaptive adjustment based on trial and error rather than a one-time visual inference. However, previous datasets and simulation environments for articulated objects have primarily focused on simple manipulation mechanisms where the complete manipulation process can be inferred from the object's appearance. To enhance the diversity and complexity of adaptive manipulation mechanisms, we build a novel articulated object manipulation environment and equip it with 9 categories of articulated objects. Based on the environment and objects, we further propose an adaptive demonstration collection pipeline and a 3D visual diffusion-based imitation learning that learns the adaptive manipulation policy. The effectiveness of our designs and proposed method are validated through both simulation and real-world experiments.
Supplementary Material: zip
Primary Area: applications to robotics, autonomy, planning
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Submission Number: 4778
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