Bag All You Need: Learning a Generalizable Bagging Strategy for Heterogeneous Objects
Arpit Bahety,Shreeya Jain,Huy Ha,Nathalie Hager,Benjamin Burchfiel,Eric Cousineau,Siyuan Feng,Shuran Song,Arpit Bahety,Shreeya Jain,Huy Ha,Nathalie Hager,Benjamin Burchfiel,Eric Cousineau,Siyuan Feng,Shuran Song
We introduce a practical robotics solution for the task of heterogeneous bagging, requiring the placement of multiple rigid and deformable objects into a deformable bag. This is a difficult task as it features complex interactions between multiple highly deformable objects under limited observability. To tackle these challenges, we propose a robotic system consisting of two learned policies: a rea...
