Task-Difficulty-Aware Efficient Object Arrangement Leveraging Tossing Motions
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arXiv
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| Autores principales: | , , , |
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| Formato: | Preprint |
| Publicado: |
2024
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| Materias: | |
| Acceso en línea: | |
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| _version_ | 1866910687180095488 |
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| author | Kiyokawa, Takuya Muta, Mahiro Wan, Weiwei Harada, Kensuke |
| author_facet | Kiyokawa, Takuya Muta, Mahiro Wan, Weiwei Harada, Kensuke |
| contents | This study explores a pick-and-toss (PT) as an alternative to pick-and-place (PP), allowing a robot to extend its range and improve task efficiency. Although PT boosts efficiency in object arrangement, the placement environment critically affects the success of tossing. To achieve accurate and efficient object arrangement, we suggest choosing between PP and PT based on task difficulty estimated from the placement environment. Our method simultaneously learns the tossing motion through self-supervised learning and the task determination policy via brute-force search. Experimental results validate the proposed method through simulations and real-world tests on various rectangular object arrangements. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2411_04313 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Task-Difficulty-Aware Efficient Object Arrangement Leveraging Tossing Motions Kiyokawa, Takuya Muta, Mahiro Wan, Weiwei Harada, Kensuke Robotics This study explores a pick-and-toss (PT) as an alternative to pick-and-place (PP), allowing a robot to extend its range and improve task efficiency. Although PT boosts efficiency in object arrangement, the placement environment critically affects the success of tossing. To achieve accurate and efficient object arrangement, we suggest choosing between PP and PT based on task difficulty estimated from the placement environment. Our method simultaneously learns the tossing motion through self-supervised learning and the task determination policy via brute-force search. Experimental results validate the proposed method through simulations and real-world tests on various rectangular object arrangements. |
| title | Task-Difficulty-Aware Efficient Object Arrangement Leveraging Tossing Motions |
| topic | Robotics |
| url | https://arxiv.org/abs/2411.04313 |