Скачать или смотреть Online Object Model Reconstruction and Reuse for Lifelong Improvement of Robot Manipulation

This video demonstrates a robotic pipeline for picking and constrained placement of objects without geometric shape priors. Compared to recent efforts developed for similar tasks, where every object was assumed to be novel, the proposed system recognizes previously manipulated objects and performs online model reconstruction and reuse. Over a lifelong manipulation process, the system keeps learning features of objects it has interacted with and updates their reconstructed models. Whenever an instance of a previously manipulated object reappears, the system aims to first recognize it and then register its previously reconstructed model given the current observation. This step greatly reduces object shape uncertainty allowing the system to even reason for parts of the objects that are currently not observable. This also results in better manipulation efficiency as it reduces the need for active perception of the target object during manipulation.