Composable Part-Based Manipulation

arXiv:2405.05876v1 Announce Type: cross
Abstract: In this paper, we propose composable part-based manipulation (CPM), a novel approach that leverages object-part decomposition and part-part correspondences to improve learning and generalization of robotic manipulation skills. By considering the functional correspondences between object parts, we conceptualize functional actions, such as pouring and constrained placing, as combinations of different correspondence constraints. CPM comprises a collection of composable diffusion models, where each model captures a different inter-object correspondence. These diffusion models can generate parameters for …

abstract arxiv constraints cs.ai cs.cv cs.lg cs.ro functional manipulation novel object paper part robotic robotic manipulation skills type