Stable Object Reorientation using Contact Plane Registration

• URL: http://arxiv.org/abs/2208.08962v1
• Date: Thu, 18 Aug 2022 17:10:28 GMT
• Title: Stable Object Reorientation using Contact Plane Registration
• Authors: Richard Li, Carlos Esteves, Ameesh Makadia, Pulkit Agrawal
• Abstract summary: We propose to overcome the critical issue of modelling multimodality in the space of rotations by using a conditional generative model. Our system is capable of operating from noisy and partially-observed pointcloud observations captured by real world depth cameras.
• Score: 32.19425880216469
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: We present a system for accurately predicting stable orientations for diverse rigid objects. We propose to overcome the critical issue of modelling multimodality in the space of rotations by using a conditional generative model to accurately classify contact surfaces. Our system is capable of operating from noisy and partially-observed pointcloud observations captured by real world depth cameras. Our method substantially outperforms the current state-of-the-art systems on a simulated stacking task requiring highly accurate rotations, and demonstrates strong sim2real zero-shot transfer results across a variety of unseen objects on a real world reorientation task. Project website: \url{https://richardrl.github.io/stable-reorientation/}

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