Combining Self-Supervised Learning and Imitation for Vision-Based Rope Manipulation

ICRA, pp. 2146-2153, 2017.

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We combine our method with human demonstrations by allowing a human user to supply stepby-step images that show the rope undergoing a variety of manipulations

Abstract:

Manipulation of deformable objects, such as ropes and cloth, is an important but challenging problem in robotics. We present a learning-based system where a robot takes as input a sequence of images of a human manipulating a rope from an initial to goal configuration, and outputs a sequence of actions that can reproduce the human demonstr...More

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