用机器人电路图重新布置环境以最大化能量
Rearranging the Environment to Maximize Energy with a Robotic Circuit Drawing
摘要：
具有主动从环境中获取能量的能力的机器人将大大有利于长期自主和在不确定环境中生存。在这项工作中，我们提出了一个机器人能够绘制电路与导电油墨，同时也重新安排视觉世界，以接收最大的能量从电源。一系列电路绘制任务旨在模拟真实世界的场景，包括避免物理障碍物和可能中断绘制电路的区域。我们采用最先进的Transporter网络，从视觉观察中进行拾取和放置操作。我们在模拟和现实世界的设置进行实验，我们的结果表明，通过少量的演示，机器人学会重新安排物体的放置（消除障碍物和桥接不适合绘图的区域），并将电源与最少量的导电油墨连接。随着自主机器人越来越多地出现在我们的房子和其他星球上，我们提出的方法为机器提供了一种新的方式，通过重新安排周围环境来创建自己的电路来保持自身的功能。
英文摘要：
Robots with the ability to actively acquire power from surroundings will be greatly beneficial for long-term autonomy and to survive in uncertain environments. In this work, we present a robot capable of drawing circuits with conductive ink while also rearranging the visual world to receive maximum energy from a power source. A range of circuit drawing tasks is designed to simulate real-world scenarios, including avoiding physical obstacles and regions that would discontinue drawn circuits. We adopt the state-of-the-art Transporter networks for pick-and-place manipulation from visual observation. We conduct experiments in both simulation and real-world settings, and our results show that, with a small number of demonstrations, the robot learns to rearrange the placement of objects (removing obstacles and bridging areas unsuitable for drawing) and to connect a power source with a minimum amount of conductive ink. As autonomous robots become more present, in our houses and other planets, our proposed method brings a novel way for machines to keep themselves functional by rearranging their surroundings to create their own electric circuits.
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。
