Robotic Table Wiping via Reinforcement Learning and Whole-body Trajectory Optimization
Thomas Lew,Sumeet Singh,Mario Prats,Jeffrey Bingham,Jonathan Weisz,Benjie Holson,Xiaohan Zhang,Vikas Sindhwani,Yao Lu,Fei Xia,Peng Xu,Tingnan Zhang,Jie Tan,Montserrat Gonzalez,Thomas Lew,Sumeet Singh,Mario Prats,Jeffrey Bingham,Jonathan Weisz,Benjie Holson,Xiaohan Zhang,Vikas Sindhwani,Yao Lu,Fei Xia,Peng Xu,Tingnan Zhang,Jie Tan,Montserrat Gonzalez
We propose a framework to enable multipurpose assistive mobile robots to autonomously wipe tables to clean spills and crumbs. This problem is challenging, as it requires planning wiping actions while reasoning over uncertain latent dynamics of crumbs and spills captured via high-dimensional visual observations. Simultaneously, we must guarantee constraints satisfaction to enable safe deployment in...
