RoboPanoptes: The All-seeing Robot with Whole-body Dexterity
Fuente:
arXiv
Salvato in:
| Autori principali: | , , |
|---|---|
| Natura: | Preprint |
| Pubblicazione: |
2025
|
| Soggetti: | |
| Accesso online: | |
| Tags: |
Aggiungi Tag
Nessun Tag, puoi essere il primo ad aggiungerne!!
|
| _version_ | 1866908755992510464 |
|---|---|
| author | Xu, Xiaomeng Bauer, Dominik Song, Shuran |
| author_facet | Xu, Xiaomeng Bauer, Dominik Song, Shuran |
| contents | We present RoboPanoptes, a capable yet practical robot system that achieves whole-body dexterity through whole-body vision. Its whole-body dexterity allows the robot to utilize its entire body surface for manipulation, such as leveraging multiple contact points or navigating constrained spaces. Meanwhile, whole-body vision uses a camera system distributed over the robot's surface to provide comprehensive, multi-perspective visual feedback of its own and the environment's state. At its core, RoboPanoptes uses a whole-body visuomotor policy that learns complex manipulation skills directly from human demonstrations, efficiently aggregating information from the distributed cameras while maintaining resilience to sensor failures. Together, these design aspects unlock new capabilities and tasks, allowing RoboPanoptes to unbox in narrow spaces, sweep multiple or oversized objects, and succeed in multi-step stowing in cluttered environments, outperforming baselines in adaptability and efficiency. Results are best viewed on https://robopanoptes.github.io. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2501_05420 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | RoboPanoptes: The All-seeing Robot with Whole-body Dexterity Xu, Xiaomeng Bauer, Dominik Song, Shuran Robotics We present RoboPanoptes, a capable yet practical robot system that achieves whole-body dexterity through whole-body vision. Its whole-body dexterity allows the robot to utilize its entire body surface for manipulation, such as leveraging multiple contact points or navigating constrained spaces. Meanwhile, whole-body vision uses a camera system distributed over the robot's surface to provide comprehensive, multi-perspective visual feedback of its own and the environment's state. At its core, RoboPanoptes uses a whole-body visuomotor policy that learns complex manipulation skills directly from human demonstrations, efficiently aggregating information from the distributed cameras while maintaining resilience to sensor failures. Together, these design aspects unlock new capabilities and tasks, allowing RoboPanoptes to unbox in narrow spaces, sweep multiple or oversized objects, and succeed in multi-step stowing in cluttered environments, outperforming baselines in adaptability and efficiency. Results are best viewed on https://robopanoptes.github.io. |
| title | RoboPanoptes: The All-seeing Robot with Whole-body Dexterity |
| topic | Robotics |
| url | https://arxiv.org/abs/2501.05420 |