Learning Agent-Aware Affordances for Closed-Loop Interaction with Articulated Objects
Giulio Schiavi,Paula Wulkop,Giuseppe Rizzi,Lionel Ott,Roland Siegwart,Jen Jen Chung,Giulio Schiavi,Paula Wulkop,Giuseppe Rizzi,Lionel Ott,Roland Siegwart,Jen Jen Chung
Interactions with articulated objects are a challenging but important task for mobile robots. To tackle this challenge, we propose a novel closed-loop control pipeline, which integrates manipulation priors from affordance estimation with sampling-based whole-body control. We introduce the concept of agent-aware affordances which fully reflect the agent's capabilities and embodiment and we show tha...
