论文标题
让我们处理：可概括的铰接物体操纵
Let's Handle It: Generalizable Manipulation of Articulated Objects
论文作者
论文摘要
在此项目中，我们提出了一个框架，用于构建可概括的操纵控制器策略，该策略从原始输入点云和分段掩码映射到关节速度。我们采用了传统的机器人方法，使用点云处理，最终效应轨迹计算，逆运动学，闭环位置控制器和行为树。我们展示了关于构成Sapien Maniskill操纵挑战的常见家庭对象的四种操纵技巧的框架。
In this project we present a framework for building generalizable manipulation controller policies that map from raw input point clouds and segmentation masks to joint velocities. We took a traditional robotics approach, using point cloud processing, end-effector trajectory calculation, inverse kinematics, closed-loop position controllers, and behavior trees. We demonstrate our framework on four manipulation skills on common household objects that comprise the SAPIEN ManiSkill Manipulation challenge.
