Incremental Few-Shot Adaptation for Non-Prehensile Object Manipulation using Parallelizable Physics Simulators

• URL: http://arxiv.org/abs/2409.13228v1
• Date: Fri, 20 Sep 2024 05:24:25 GMT
• Title: Incremental Few-Shot Adaptation for Non-Prehensile Object Manipulation using Parallelizable Physics Simulators
• Authors: Fabian Baumeister, Lukas Mack, Joerg Stueckler,
• Abstract summary: We propose a novel approach for non-prehensile manipulation which iteratively adapts a physics-based dynamics model for model-predictive control. We adapt the parameters of the model incrementally with a few examples of robot-object interactions. We evaluate our few-shot adaptation approach in several object pushing experiments in simulation and with a real robot.
• Score: 5.483662156126757
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Few-shot adaptation is an important capability for intelligent robots that perform tasks in open-world settings such as everyday environments or flexible production. In this paper, we propose a novel approach for non-prehensile manipulation which iteratively adapts a physics-based dynamics model for model-predictive control. We adapt the parameters of the model incrementally with a few examples of robot-object interactions. This is achieved by sampling-based optimization of the parameters using a parallelizable rigid-body physics simulation as dynamic world model. In turn, the optimized dynamics model can be used for model-predictive control using efficient sampling-based optimization. We evaluate our few-shot adaptation approach in several object pushing experiments in simulation and with a real robot.

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