RoboMatrix: A Skill-centric Hierarchical Framework for Scalable Robot Task Planning and Execution in Open-World

• URL: http://arxiv.org/abs/2412.00171v2
• Date: Tue, 10 Dec 2024 10:02:45 GMT
• Title: RoboMatrix: A Skill-centric Hierarchical Framework for Scalable Robot Task Planning and Execution in Open-World
• Authors: Weixin Mao, Weiheng Zhong, Zhou Jiang, Dong Fang, Zhongyue Zhang, Zihan Lan, Fan Jia, Tiancai Wang, Haoqiang Fan, Osamu Yoshie,
• Abstract summary: RoboMatrix is a skill-centric and hierarchical framework for scalable task planning and execution.<n>We first introduce a novel skill-centric paradigm that extracts the common meta-skills from different complex tasks.<n>To fully leverage meta-skills, we develop a hierarchical framework that decouples complex robot tasks into three interconnected layers.
• Score: 18.998643114600053
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Existing policy learning methods predominantly adopt the task-centric paradigm, necessitating the collection of task data in an end-to-end manner. Consequently, the learned policy tends to fail to tackle novel tasks. Moreover, it is hard to localize the errors for a complex task with multiple stages due to end-to-end learning. To address these challenges, we propose RoboMatrix, a skill-centric and hierarchical framework for scalable task planning and execution. We first introduce a novel skill-centric paradigm that extracts the common meta-skills from different complex tasks. This allows for the capture of embodied demonstrations through a skill-centric approach, enabling the completion of open-world tasks by combining learned meta-skills. To fully leverage meta-skills, we further develop a hierarchical framework that decouples complex robot tasks into three interconnected layers: (1) a high-level modular scheduling layer; (2) a middle-level skill layer; and (3) a low-level hardware layer. Experimental results illustrate that our skill-centric and hierarchical framework achieves remarkable generalization performance across novel objects, scenes, tasks, and embodiments. This framework offers a novel solution for robot task planning and execution in open-world scenarios. Our software and hardware are available at https://github.com/WayneMao/RoboMatrix.

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