Bejjani, W, Agboh, WC, Dogar, MR orcid.org/0000-0002-6896-5461 et al. (1 more author) (2021) Occlusion-Aware Search for Object Retrieval in Clutter. In: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021). 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021), 27 Sep - 01 Oct 2021, Prague, Czechia. , pp. 4678-4685. ISBN 978-1-6654-1714-3
Abstract
We address the manipulation task of retrieving a target object from a cluttered shelf. When the target object is hidden, the robot must search through the clutter for retrieving it. Solving this task requires reasoning over the likely locations of the target object. It also requires physics reasoning over multi-object interactions and future occlusions. In this work, we present a data-driven hybrid planner for generating occlusion-aware actions in closed-loop. The hybrid planner explores likely locations of the occluded target object as predicted by a learned distribution from the observation stream. The search is guided by a heuristic trained with reinforcement learning to act on observations with occlusions. We evaluate our approach in different simulation and real-world settings (video available on https://youtu.be/dY7YQ3LUVQg). The results validate that our approach can search and retrieve a target object in near real time in the real world while only being trained in simulation.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2021 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. |
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) |
Depositing User: | Symplectic Publications |
Date Deposited: | 19 Jul 2021 12:13 |
Last Modified: | 09 Aug 2023 03:23 |
Status: | Published |
Identification Number: | 10.1109/IROS51168.2021.9636230 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:176265 |