Online Object Model Reconstruction and Reuse for Lifelong Improvement of Robot Manipulation
Shiyang Lu,Rui Wang,Yinglong Miao,Chaitanya Mitash,Kostas Bekris,Shiyang Lu,Rui Wang,Yinglong Miao,Chaitanya Mitash,Kostas Bekris
This work proposes a robotic pipeline for picking and constrained placement of objects without geometric shape priors. Compared to recent efforts developed for similar tasks, where every object was assumed to be novel, the proposed system recognizes previously manipulated objects and per-forms online model reconstruction and reuse. Over a lifelong manipulation process, the system keeps learning fe...
