未知场景下基于全身移动操作的铰接物体交互
Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation
AI总结：
针对未知动态环境中移动操作器与大型铰接物体自主交互的难题，提出物体中心规划加智能体中心最优控制的两阶段架构，在轮式、腿式平台的厨房场景中实现了更高成功率与更短执行时间，并完成硬件验证。
摘要：
厨房助手需要在存在动态障碍物的未建图环境中操作橱柜、烤箱等人类尺寸的物体。在这类环境中实现自主交互，需要将灵巧操作与流畅移动能力相结合。尽管不同形态的移动操作器可提供更大的工作空间，但其在现实场景中的应用仍受到限制。执行通用物体的高层任务，既需要对物体的感知理解，也需要在动态障碍物间实现自适应的全身控制。本文提出一种两阶段架构，用于在未知环境中与大型铰接物体进行自主交互。第一阶段为以物体为中心的规划器，仅聚焦于目标物体，利用RGB-D数据生成用于操作的动作条件状态序列。第二阶段为以智能体为中心的规划器，将全身运动控制建模为最优控制问题，确保即使在存在移动障碍物的场景中，也能安全跟踪生成的规划。实验表明，所提流水线可应对轮式和腿式移动操作器在复杂静态及动态厨房环境中的任务。与其他以智能体为中心的规划器相比，本文提出的规划器成功率更高，执行时间更短。我们还在一台腿式移动操作器上进行了硬件测试，使其在厨房中与各类铰接物体交互。更多材料请查看：www.pair.toronto.edu/articulated-mm/。
英文摘要：
A kitchen assistant needs to operate human-scale objects, such as cabinets and ovens, in unmapped environments with dynamic obstacles. Autonomous interactions in such environments require integrating dexterous manipulation and fluid mobility. While mobile manipulators in different form factors provide an extended workspace, their real-world adoption has been limited. Executing a high-level task for general objects requires a perceptual understanding of the object as well as adaptive whole-body control among dynamic obstacles. In this paper, we propose a two-stage architecture for autonomous interaction with large articulated objects in unknown environments. The first stage, object-centric planner, only focuses on the object to provide an action-conditional sequence of states for manipulation using RGB-D data. The second stage, agent-centric planner, formulates the whole-body motion control as an optimal control problem that ensures safe tracking of the generated plan, even in scenes with moving obstacles. We show that the proposed pipeline can handle complex static and dynamic kitchen settings for both wheel-based and legged mobile manipulators. Compared to other agent-centric planners, our proposed planner achieves a higher success rate and a lower execution time. We also perform hardware tests on a legged mobile manipulator to interact with various articulated objects in a kitchen. For additional material, please check: www.pair.toronto.edu/articulated-mm/.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
