用扩散模型在表面生成智能操作约束，提升机器人触觉任务精度
Diffusion-based Virtual Fixtures
- 基于表面几何信息，通过扩散机制传播行为约束
- 可在噪声点云上实现力与速度的精准调控
- 适合需要精细控制的远程操作与避障场景
虚拟夹具在远程操作中通过限制操作行为提供辅助。本文提出一种面向表面的新式虚拟夹具方法，基于表面位置进行行为约束，并通过考虑表面距离度量实现全局泛化。方法直接作用于摄像头采集的可能带有噪声和缺失的点云数据。给定表面若干区域及其期望行为后，该方法结合表面几何结构，将行为扩散至整个表面。我们在两个模拟实验中验证了该方法的有效性：(i) 根据表面位置调节接触力大小或切向速度；(ii) 引导机器人到达目标同时避开定义在表面的禁区。所有源代码、实验数据与视频均公开可获取。
原文摘要 · Abstract (English)
Virtual fixtures assist human operators in teleoperation settings by constraining their actions. This extended abstract introduces a novel virtual fixture formulation \emph{on surfaces} for tactile robotics tasks. Unlike existing methods, our approach constrains the behavior based on the position on the surface and generalizes it over the surface by considering the distance (metric) on the surface. Our method works directly on possibly noisy and partial point clouds collected via a camera. Given a set of regions on the surface together with their desired behaviors, our method diffuses the behaviors across the entire surface by taking into account the surface geometry. We demonstrate our method's ability in two simulated experiments (i) to regulate contact force magnitude or tangential speed based on surface position and (ii) to guide the robot to targets while avoiding restricted regions defined on the surface. All source codes, experimental data, and videos are available as open access at https://sites.google.com/view/diffusion-virtual-fixtures
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