论文标题
使用状态和过渡的图表编码布操作
Encoding cloth manipulations using a graph of states and transitions
论文作者
论文摘要
布料操纵与家庭机器人任务非常相关，但是由于代表，认识和预测操纵下的布的行为的复杂性，它带来了许多挑战。在这项工作中，我们提出了对布操作状态的通用，紧凑和简化的表示，允许将任务表示为状态和过渡的序列。我们还定义了一个布操作图，该图表编码了完成任务的所有策略。我们的新颖表示形式用于编码两个不同的布操作任务，这些任务是从人类受试者的实验中汲取的，并具有视频和运动数据。我们展示了我们的简化表示如何允许获得有意义的运动原始图。
Cloth manipulation is very relevant for domestic robotic tasks, but it presents many challenges due to the complexity of representing, recognizing and predicting the behaviour of cloth under manipulation. In this work, we propose a generic, compact and simplified representation of the states of cloth manipulation that allows for representing tasks as sequences of states and transitions. We also define a Cloth Manipulation Graph that encodes all the strategies to accomplish a task. Our novel representation is used to encode two different cloth manipulation tasks, learned from an experiment with human subjects with video and motion data. We show how our simplified representation allows to obtain a map of meaningful motion primitives.
