Let’s Handle It: Generalizable Manipulation of Articulated ObjectsDownload PDF

Published: 27 Apr 2022, Last Modified: 05 May 2023ICLR 2022 GPL PosterReaders: Everyone
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.
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