信念重複部分逆変換：ヒューマノイドの移動操作のための物体中心フロー再計画
Belief-Overlap Partial Inversion: Object-Centric Flow Replanning for Humanoid Loco-Manipulation
未知の質量やキャスタ剛性を持つカートを押すヒューマノイドのため、オンライン推定・フロー計画・全身制御を統合し、信念の変化に応じて計画を部分的に修正するBOPIを提案。シミュレーションで誤差を大幅に削減し、実機でもカートの移動と旋回を実現した。
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著者: Chen Yu, Sudarshan S Harithas, Juan Borbon, Dingqi Zhang, Jiuguang Wang
分類: cs.RO
原文アブストラクト
People often learn how an unfamiliar object moves through a small exploratory push, using its response to guide their next motion. Inspired by this behavior, we study humanoids pushing carts whose mass and caster stiffness are initially unknown. Our object-centric framework closes online estimation, flow-based planning, and whole-body control into a loop, creating a tension: replacing the plan whenever the belief shifts disrupts the maneuver under way, while keeping it strands the robot on a path its evidence has ruled out. Belief-Overlap Partial Inversion (BOPI) scales revision to agreement, inverting the flow under the old belief only as far as the beliefs disagree before reconstructing under the new one. Across 18 simulated goals it lowers pooled final position and yaw error by roughly 33% and 47% against fixed-depth replanning, and on hardware it translates and turns a non-holonomic cart.