接触の多い巧みな操作デモンストレーションのための運動学的非線形時空間軌道ワーピング
Kinematic Nonlinear Spatio-Temporal Trajectory Warping for Contact-Rich Dexterous Manipulation Demonstrations
手と物体の軌道を入力とし、接触分布を利用して中間ウェイポイントや障害物、時間的ずれ、開始・終了姿勢の変化に対応した高品質な非線形軌道ワープを生成する手法を提案。
著者: Hyojae Park, Arjun S. Lakshmipathy, Nancy S. Pollard
分類: cs.RO
原文アブストラクト
We present a straightforward but effective method for repurposing existing contact-rich dexterous manipulation demonstrations. Starting from inputs of hand and object trajectories, our method outputs high-quality nonlinear trajectory warps that account for intermediate waypoints, environmental barriers, temporal shifts, and varied start/end configurations. Foundational to our method is the utilization of contact distributions, which we show allows us to reliably compute complex and high-dimensional dexterous hand trajectories following a simple object-centric warp specification pipeline. We evaluate our method across 12 variations sourced from 4 demonstrations in a publicly available dataset of human hand motion data, perform baseline comparisons, and demonstrate generalization of our approach to different manipulators. Results and code will be made available on publication.