Learning to Rearrange Deformable Cables, Fabrics, and Bags with Goal-Conditioned Transporter Networks
Daniel Seita,Pete Florence,Jonathan Tompson,Erwin Coumans,Vikas Sindhwani,Ken Goldberg,Andy Zeng,Daniel Seita,Pete Florence,Jonathan Tompson,Erwin Coumans,Vikas Sindhwani,Ken Goldberg,Andy Zeng
Rearranging and manipulating deformable objects such as cables, fabrics, and bags is a long-standing challenge in robotic manipulation. The complex dynamics and high-dimensional configuration spaces of deformables, compared to rigid objects, make manipulation difficult not only for multi-step planning, but even for goal specification. Goals cannot be as easily specified as rigid object poses, and ...
