用环境约束实现桌面异构物体的智能整理
Robotic Desk Organization: A Multi-Primitive Approach to Manipulating Heterogeneous Objects via Environmental Constraints
- 基于环境约束设计接触、边缘推抓、杠杆抓取三种操作原语
- 实测在多种桌面场景下成功完成物体收集与堆叠任务
- 适合服务机器人、桌面整理等实际应用场景
桌面组织对服务机器人仍具挑战，因物体种类多样且操作目标复杂（如收集、堆叠）。本文提出一种面向任务的框架，用于整理平面刚体与柔性物体。构建感知流水线，扩充现有数据集并支持几何姿态与关键点估计，同时检测桌边等环境约束。针对多样化操作需求，引入环境辅助原语：小物体采用接触式抓取，平面刚体使用边缘推抓，平面柔性物体则采用杠杆式抓取，充分利用环境与物体间约束提升鲁棒性。设计任务规划器将这些原语整合为多物体组织流程。大量真实世界实验验证了该框架的有效性与鲁棒性。研究提供了适用于平面刚体与柔性物体的实际操作原语，凸显环境与物间约束在复杂多物体操作中的关键作用。代码与视频已公开。
原文摘要 · Abstract (English)
Desktop organization remains challenging for service robots because of heterogeneous objects and diverse manipulation objectives, such as collection and stacking. In this article, a task-oriented framework is presented for organizing planar rigid and deformable objects on desks. A perception pipeline was developed that augments existing datasets with uncommon desktop items and makes geometry-based pose and keypoint estimation possible, along with the detection of environmental constraints, such as table edges. To handle diverse manipulation requirements, environment-assisted primitives are used, including contact-based grasping for small objects, edge-based push-grasping for planar rigid objects, and levering-based grasping for planar deformable objects. These primitives leverage environmental and interobject constraints to improve robustness. A task planner was designed to integrate these primitives into multiobject organization. Sufficient real-world experiments demonstrate the effectiveness and robustness of the proposed framework. This research provides practical manipulation primitives for planar rigid and deformable objects, highlighting the role of environmental and interobject constraints in complex multiobject manipulation tasks. Code and video are available online.
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