DefGoalNet: Contextual Goal Learning from Demonstrations for Deformable Object Manipulation
Bao Thach,Tanner Watts,Shing-Hei Ho,Tucker Hermans,Alan Kuntz,Bao Thach,Tanner Watts,Shing-Hei Ho,Tucker Hermans,Alan Kuntz
Shape servoing, a robotic task dedicated to controlling objects to desired goal shapes, is a promising approach to deformable object manipulation. An issue arises, however, with the reliance on the specification of a goal shape. This goal has been obtained either by a laborious domain knowledge engineering process or by manually manipulating the object into the desired shape and capturing the goal...
