Strategic Jenga Play via Graph Based Dynamics Modeling
Fuente:
arXiv
Gespeichert in:
| Hauptverfasser: | , , , |
|---|---|
| Format: | Preprint |
| Veröffentlicht: |
2025
|
| Schlagworte: | |
| Online-Zugang: | |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| _version_ | 1866915287241064448 |
|---|---|
| author | Puthuveetil, Kavya Zhang, Xinyi Yokoyama, Kazuto Narita, Tetsuya |
| author_facet | Puthuveetil, Kavya Zhang, Xinyi Yokoyama, Kazuto Narita, Tetsuya |
| contents | Controlled manipulation of multiple objects whose dynamics are closely linked is a challenging problem within contact-rich manipulation, requiring an understanding of how the movement of one will impact the others. Using the Jenga game as a testbed to explore this problem, we graph-based modeling to tackle two different aspects of the task: 1) block selection and 2) block extraction. For block selection, we construct graphs of the Jenga tower and attempt to classify, based on the tower's structure, whether removing a given block will cause the tower to collapse. For block extraction, we train a dynamics model that predicts how all the blocks in the tower will move at each timestep in an extraction trajectory, which we then use in a sampling-based model predictive control loop to safely pull blocks out of the tower with a general-purpose parallel-jaw gripper. We train and evaluate our methods in simulation, demonstrating promising results towards block selection and block extraction on a challenging set of full-sized Jenga towers, even at advanced stages of the game. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2505_09377 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Strategic Jenga Play via Graph Based Dynamics Modeling Puthuveetil, Kavya Zhang, Xinyi Yokoyama, Kazuto Narita, Tetsuya Robotics Controlled manipulation of multiple objects whose dynamics are closely linked is a challenging problem within contact-rich manipulation, requiring an understanding of how the movement of one will impact the others. Using the Jenga game as a testbed to explore this problem, we graph-based modeling to tackle two different aspects of the task: 1) block selection and 2) block extraction. For block selection, we construct graphs of the Jenga tower and attempt to classify, based on the tower's structure, whether removing a given block will cause the tower to collapse. For block extraction, we train a dynamics model that predicts how all the blocks in the tower will move at each timestep in an extraction trajectory, which we then use in a sampling-based model predictive control loop to safely pull blocks out of the tower with a general-purpose parallel-jaw gripper. We train and evaluate our methods in simulation, demonstrating promising results towards block selection and block extraction on a challenging set of full-sized Jenga towers, even at advanced stages of the game. |
| title | Strategic Jenga Play via Graph Based Dynamics Modeling |
| topic | Robotics |
| url | https://arxiv.org/abs/2505.09377 |