Learning Rope Manipulation Policies Using Dense Object Descriptors Trained on Synthetic Depth Data
Priya Sundaresan,Jennifer Grannen,Brijen Thananjeyan,Ashwin Balakrishna,Michael Laskey,Kevin Stone,Joseph E. Gonzalez,Ken Goldberg,Priya Sundaresan,Jennifer Grannen,Brijen Thananjeyan,Ashwin Balakrishna,Michael Laskey,Kevin Stone,Joseph E. Gonzalez,Ken Goldberg
Robotic manipulation of deformable 1D objects such as ropes, cables, and hoses is challenging due to the lack of high-fidelity analytic models and large configuration spaces. Furthermore, learning end-to-end manipulation policies directly from images and physical interaction requires significant time on a robot and can fail to generalize across tasks. We address these challenges using interpretabl...
