Vegetable Peeling: A Case Study in Constrained Dexterous Manipulation
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arXiv
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| Hauptverfasser: | , , , |
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| Format: | Preprint |
| Veröffentlicht: |
2024
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| _version_ | 1866929416663203840 |
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| author | Chen, Tao Cousineau, Eric Kuppuswamy, Naveen Agrawal, Pulkit |
| author_facet | Chen, Tao Cousineau, Eric Kuppuswamy, Naveen Agrawal, Pulkit |
| contents | Recent studies have made significant progress in addressing dexterous manipulation problems, particularly in in-hand object reorientation. However, there are few existing works that explore the potential utilization of developed dexterous manipulation controllers for downstream tasks. In this study, we focus on constrained dexterous manipulation for food peeling. Food peeling presents various constraints on the reorientation controller, such as the requirement for the hand to securely hold the object after reorientation for peeling. We propose a simple system for learning a reorientation controller that facilitates the subsequent peeling task. Videos are available at: https://taochenshh.github.io/projects/veg-peeling. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2407_07884 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Vegetable Peeling: A Case Study in Constrained Dexterous Manipulation Chen, Tao Cousineau, Eric Kuppuswamy, Naveen Agrawal, Pulkit Robotics Artificial Intelligence Machine Learning Systems and Control Recent studies have made significant progress in addressing dexterous manipulation problems, particularly in in-hand object reorientation. However, there are few existing works that explore the potential utilization of developed dexterous manipulation controllers for downstream tasks. In this study, we focus on constrained dexterous manipulation for food peeling. Food peeling presents various constraints on the reorientation controller, such as the requirement for the hand to securely hold the object after reorientation for peeling. We propose a simple system for learning a reorientation controller that facilitates the subsequent peeling task. Videos are available at: https://taochenshh.github.io/projects/veg-peeling. |
| title | Vegetable Peeling: A Case Study in Constrained Dexterous Manipulation |
| topic | Robotics Artificial Intelligence Machine Learning Systems and Control |
| url | https://arxiv.org/abs/2407.07884 |