Local Neural Descriptor Fields: Locally Conditioned Object Representations for Manipulation
Ethan Chun,Yilun Du,Anthony Simeonov,Tomas Lozano-Perez,Leslie Kaelbling,Ethan Chun,Yilun Du,Anthony Simeonov,Tomas Lozano-Perez,Leslie Kaelbling
A robot operating in a household environment will see a wide range of unique and unfamiliar objects. While a system could train on many of these, it is infeasible to predict all the objects a robot will see. In this paper, we present a method to generalize object manipulation skills acquired from a limited number of demonstrations, to novel objects from unseen shape categories. Our approach, Local...
