Adapting Everyday Manipulation Skills to Varied Scenarios

@article{Gajewski2019AdaptingEM,
  title={Adapting Everyday Manipulation Skills to Varied Scenarios},
  author={Pawel Gajewski and P. Ferreira and G. Bartels and Chaozheng Wang and Frank Guerin and B. Indurkhya and M. Beetz and B. Sniezynski},
  journal={2019 International Conference on Robotics and Automation (ICRA)},
  year={2019},
  pages={1345-1351}
}
We address the problem of executing tool-using manipulation skills in scenarios where the objects to be used may vary. We assume that point clouds of the tool and target object can be obtained, but no interpretation or further knowledge about these objects is provided. The system must interpret the point clouds and decide how to use the tool to complete a manipulation task with a target object; this means it must adjust motion trajectories appropriately to complete the task. We tackle three… Expand
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