让机器人用视觉对齐的形态表示进行长期雕塑规划，更贴合真实艺术创作。
Visual Sculpting: Visually-Aligned Planning Representations for Long-Horizon Robot Clay Sculpting
- 用视觉对齐的表征捕捉光照纹理，替代传统稀疏点云
- 在三种材料上实现超过100步的长程雕塑动作，性能达顶尖水平
- 适合需要视觉感知与长期规划的艺术类机器人任务
陶土雕塑是一项涉及灵巧操作和长期规划的精细艺术任务。我们将机器人陶土雕塑建模为形状到形状的匹配问题。以往可变形物体操作方法要么需为每个目标重新训练策略，要么依赖将状态表示为稀疏点云的动力学模型，无法有效捕捉陶土的纹理等关键特征。本文提出一种可捕获光照与纹理特征的可变形材料动力学建模方法，并支持视觉对齐的规划。在三种不同可变形材料和多种末端执行器下，我们的模型性能与当前最先进方法相当，且具备视觉规划兼容性。动作设计为单个末端执行器的参数化推压，适用于超过100步的长周期浮雕雕塑任务。最后，我们展示了视觉对齐表示在规划中的优势，也分析了其相比3D表示更具挑战性的原因。
原文摘要 · Abstract (English)
Clay sculpting is a nuanced, artistic task involving dexterous manipulation with long-horizon planning to achieve high-level goals. As a robotics problem, we formulate clay sculpting as a shape-to-shape matching challenge. Prior deformable object manipulation work either requires retraining a policy per goal or relies on dynamics models which represent state as sparse point clouds which do not capture important clay features, such as textures, well. We present a method for modeling the dynamics of deformable materials and planning for robotic sculpting in a representation that is visually-aligned, capturing lighting and texture features. With three different deformable materials and various end-effectors, we demonstrate that our dynamics model is comparable in performance to the state-of-the-art with the added benefit of being compatible with visual planning. Our actions are represented as parametrized pushes into clay with a single end-effector, which proved to be suitable for long-horizon (>100 actions) clay relief sculptures. Lastly, we show the benefits of planning in a visually-aligned representation, but also provide analysis providing evidence as to why this representation is challenging to plan in compared to 3D representations.
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