Accurate Vision-based Manipulation through Contact Reasoning
Alina Kloss,Maria Bauza,Jiajun Wu,Joshua B. Tenenbaum,Alberto Rodriguez,Jeannette Bohg,Alina Kloss,Maria Bauza,Jiajun Wu,Joshua B. Tenenbaum,Alberto Rodriguez,Jeannette Bohg
Planning contact interactions is one of the core challenges of many robotic tasks. Optimizing contact locations while taking dynamics into account is computationally costly and, in environments that are only partially observable, executing contact-based tasks often suffers from low accuracy. We present an approach that addresses these two challenges for the problem of vision-based manipulation. Fi...
