AutoBag: Learning to Open Plastic Bags and Insert Objects
Lawrence Yunliang Chen,Baiyu Shi,Daniel Seita,Richard Cheng,Thomas Kollar,David Held,Ken Goldberg,Lawrence Yunliang Chen,Baiyu Shi,Daniel Seita,Richard Cheng,Thomas Kollar,David Held,Ken Goldberg
Thin plastic bags are ubiquitous in retail stores, healthcare, food handling, recycling, homes, and school lunchrooms. They are challenging both for perception (due to specularities and occlusions) and for manipulation (due to the dynamics of their 3D deformable structure). We formulate the task of “bagging:” manipulating common plastic shopping bags with two handles from an unstructured initial s...
