Bagging by Learning to Singulate Layers Using Interactive Perception
Lawrence Yunliang Chen,Baiyu Shi,Roy Lin,Daniel Seita,Ayah Ahmad,Richard Cheng,Thomas Kollar,David Held,Ken Goldberg,Lawrence Yunliang Chen,Baiyu Shi,Roy Lin,Daniel Seita,Ayah Ahmad,Richard Cheng,Thomas Kollar,David Held,Ken Goldberg
Many fabric handling and 2D deformable material tasks in homes and industries require singulating layers of material such as opening a bag or arranging garments for sewing. In contrast to methods requiring specialized sensing or end effectors, we use only visual observations with ordinary parallel jaw grippers. We propose SLIP: Singulating Layers using Interactive Perception, and apply SLIP to the...
