通过转移运动参考帧，实现跨物体的复杂操作动作迁移。
Transferring Kinesthetic Demonstrations across Diverse Objects for Manipulation Planning
- 定义关键位置的运动转移帧，基于物体几何与任务动态匹配
- 在不同形状物体上成功生成无碰撞且任务正确的运动规划
- 适用于仿真与真实机器人实验，适合具身智能与操作规划研究者
给定一个复杂操作任务的示范，例如将液体从一个容器倒入另一个，我们希望为涉及不同几何形状物体的新任务实例生成运动规划。这具有挑战性，因为需同时满足隐含运动约束（如倒液时杯子保持直立）、路径无碰撞以及任务成功（如液体准确倒入目标容器）。为此，我们识别关键位置，并在被操作物体和目标上建立基于几何与任务需求的参考坐标系（称为“运动转移帧”）。通过跟踪并转移这些运动转移帧的轨迹，可为任意任务实例生成适配不同几何与姿态物体的运动规划。我们在仿真和真实物体上的机器人实验中验证了该方法的有效性。视频补充见：https://youtu.be/RuG9zMXnfR8
原文摘要 · Abstract (English)
Given a demonstration of a complex manipulation task, such as pouring liquid from one container to another, we seek to generate a motion plan for a new task instance involving objects with different geometries. This is nontrivial since we need to simultaneously ensure that the implicit motion constraints are satisfied (glass held upright while moving), that the motion is collision-free, and that the task is successful (e.g., liquid is poured into the target container). We solve this problem by identifying the positions of critical locations and associating a reference frame (called "motion transfer frames") on the manipulated object and the target, selected based on their geometries and the task at hand. By tracking and transferring the path of the motion transfer frames, we generate motion plans for arbitrary task instances with objects of different geometries and poses. We show results from simulation as well as robot experiments on physical objects to evaluate the effectiveness of our solution. A video supplement is available on YouTube: https://youtu.be/RuG9zMXnfR8
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