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TAX-Pose: Task-Specific Cross-Pose Estimation for Robot Manipulation
May 3, 2024, 4:54 a.m. | Chuer Pan, Brian Okorn, Harry Zhang, Ben Eisner, David Held
cs.LG updates on arXiv.org arxiv.org
Abstract: How do we imbue robots with the ability to efficiently manipulate unseen objects and transfer relevant skills based on demonstrations? End-to-end learning methods often fail to generalize to novel objects or unseen configurations. Instead, we focus on the task-specific pose relationship between relevant parts of interacting objects. We conjecture that this relationship is a generalizable notion of a manipulation task that can transfer to new objects in the same category; examples include the relationship between …
arxiv cs.ai cs.cv cs.lg cs.ro manipulation robot robot manipulation tax type
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