Manipulation-Oriented Object Perception in Clutter through Affordance
Coordinate Frames
- URL: http://arxiv.org/abs/2010.08202v3
- Date: Wed, 2 Mar 2022 04:54:04 GMT
- Title: Manipulation-Oriented Object Perception in Clutter through Affordance
Coordinate Frames
- Authors: Xiaotong Chen, Kaizhi Zheng, Zhen Zeng, Shreshtha Basu, James Cooney,
Jana Pavlasek, Odest Chadwicke Jenkins
- Abstract summary: In this work, we combine the notions of affordance and category-level pose, and introduce the Affordance Coordinate Frame (ACF)
With ACF, we represent each object class in terms of individual affordance parts and the compatibility between them, where each part is associated with a part category-level pose for robot manipulation.
In our experiments, we demonstrate that ACF outperforms state-of-the-art methods for object detection, as well as category-level pose estimation for object parts.
- Score: 10.90648422740674
- License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
- Abstract: In order to enable robust operation in unstructured environments, robots
should be able to generalize manipulation actions to novel object instances.
For example, to pour and serve a drink, a robot should be able to recognize
novel containers which afford the task. Most importantly, robots should be able
to manipulate these novel containers to fulfill the task. To achieve this, we
aim to provide robust and generalized perception of object affordances and
their associated manipulation poses for reliable manipulation. In this work, we
combine the notions of affordance and category-level pose, and introduce the
Affordance Coordinate Frame (ACF). With ACF, we represent each object class in
terms of individual affordance parts and the compatibility between them, where
each part is associated with a part category-level pose for robot manipulation.
In our experiments, we demonstrate that ACF outperforms state-of-the-art
methods for object detection, as well as category-level pose estimation for
object parts. We further demonstrate the applicability of ACF to robot
manipulation tasks through experiments in a simulated environment.
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