Working Backwards: Learning to Place by Picking

arXiv:2312.02352v2 Announce Type: replace-cross
Abstract: We present placing via picking (PvP), a method to autonomously collect real-world demonstrations for a family of placing tasks in which objects must be manipulated to specific contact-constrained locations. With PvP, we approach the collection of robotic object placement demonstrations by reversing the grasping process and exploiting the inherent symmetry of the pick and place problems. Specifically, we obtain placing demonstrations from a set of grasp sequences of objects initially located at their target placement …

abstract arxiv collection cs.ai cs.lg cs.ro family grasping locations object objects placement process robotic tasks type via world