Let’s Handle It: Generalizable Manipulation of Articulated Objects

Zhutian Yang, Aidan Curtis

Keywords: manipulation, robotics, control

TL;DR: We present our solution to the SAPIEN Manipulation Skill Challenge

Abstract: In this project we present a framework for building generalizable manipulation controller policies that map from raw input point clouds and segmentation masks to joint velocities. We took a traditional robotics approach, using point cloud processing, end-effector trajectory calculation, inverse kinematics, closed-loop position controllers, and behavior trees. We demonstrate our framework on four manipulation skills on common household objects that comprise the SAPIEN ManiSkill Manipulation challenge.