Papallas, R and Dogar, MR orcid.org/0000-0002-6896-5461 (2020) Non-Prehensile Manipulation in Clutter with Human-In-The-Loop. In: Proceedings of the 2020 IEEE International Conference on Robotics and Automation (ICRA 2020). IEEE International Conference on Robotics and Automation (ICRA 2020), 31 May - 31 Aug 2020, Paris, France. IEEE , pp. 6723-6729. ISBN 978-1-7281-7395-5
Abstract
We propose a human-operator guided planning approach to pushing-based manipulation in clutter. Most recent approaches to manipulation in clutter employs randomized planning. The problem, however, remains a challenging one where the planning times are still in the order of tens of seconds or minutes, and the success rates are low for difficult instances of the problem. We build on these control-based randomized planning approaches, but we investigate using them in conjunction with human-operator input. In our framework, the human operator supplies a high-level plan, in the form of an ordered sequence of objects and their approximate goal positions. We present experiments in simulation and on a real robotic setup, where we compare the success rate and planning times of our human-in-the-loop approach with fully autonomous sampling-based planners. We show that with a minimal amount of human input, the low-level planner can solve the problem faster and with higher success rates.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. Uploaded in accordance with the publisher's self-archiving policy. |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Computing (Leeds) |
Funding Information: | Funder Grant number EPSRC (Engineering and Physical Sciences Research Council) EP/P019560/1 EU - European Union 746143 EPSRC (Engineering and Physical Sciences Research Council) EP/R031193/1 |
Depositing User: | Symplectic Publications |
Date Deposited: | 03 Mar 2020 12:40 |
Last Modified: | 10 Jan 2022 07:30 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/ICRA40945.2020.9196689 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:157973 |