2022/02/23 by Yang, Zhutian, Curtis, Aidan
#FOS: Computer and information sciences #Robotics (cs.RO)
paper · doi:10.48550/arxiv.2202.11792
In this project we present a framework for building generalizable manipulation controller policies that map from raw input point clouds and segmentation masks to joint velocities. We took a traditional robotics approach, using point cloud processing, end-effector trajectory calculation, inverse kinematics, closed-loop position controllers, and behavior trees. We demonstrate our framework on four manipulation skills on common household objects that comprise the SAPIEN ManiSkill Manipulation challenge.