Where To Start? Transferring Simple Skills to Complex EnvironmentsDownload PDF

16 Jun 2022, 10:45 (modified: 15 Nov 2022, 23:48)CoRL 2022 PosterReaders: Everyone
Student First Author: yes
Keywords: Robot manipulation, planning, obstacle avoidance
Abstract: Robot learning provides a number of ways to teach robots simple skills, such as grasping. However, these skills are usually trained in open, clutter-free environments, and therefore would likely cause undesirable collisions in more complex, cluttered environments. In this work, we introduce an affordance model based on a graph representation of an environment, which is optimised during deployment to find suitable robot configurations to start a skill from, such that the skill can be executed without any collisions. We demonstrate that our method can generalise a priori acquired skills to previously unseen cluttered and constrained environments, in simulation and in the real world, for both a grasping and a placing task.
Supplementary Material: zip
Website: https://www.robot-learning.uk/where-to-start
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