IPAB Workshop-21/05/2020

 

 

Chrisitian Rauch

Title:Multi-Hypotheses Tracking of Robotic Manipulators in Cluttered Scenes Abstract:Estimating one's own state is the most crucial capability when interacting with the environment.In this work we present an approach for the visual state estimation of robotic manipulators during grasping tasks in cluttered environments. We will formulate a tracking objective that is robust to occlusions and present an optimiser which does not rely on prior information about the robot's internal state.To extract meaningful information from images without access to real ground truth data, we will present an image synthesis pipeline and give some insight into the requirements on such a pipeline to generalise to real data.

 

Theodoros Stouraitis 

Title:Hybrid Motion Planning for Dyadic Collaborative Manipulation between a Human and a Robot
 
Abstract:Effective collaboration is based on online adaptation of one’s own actions to the actions of their partner. This talk describes a principled formalism to address online adaptation in joint planning problems such as Dyadic collaborative Manipulation (DcM) scenarios. We will present an efficient bilevel formulation which combines graph search methods with trajectory optimization, enabling robotic agents to adapt their policy on-the-fly in accordance to changes of the dyadic task. This method is the first to empower agents with the ability to plan online in hybrid spaces; optimizing over discrete contact locations, contact sequence patterns, continuous trajectories, and force profiles for co-manipulation tasks. This is particularly important in large object co-manipulation that requires changes of grasp-holds and plan adaptation. We will demonstrate in simulation and with robot experiments the efficacy of the bilevel optimization by investigating the effect of robot policy changes in response to real-time alterations of the dyadic goals, eminent grasp switches, as well as optimal dyadic interactions to realize the joint task.
May 21 2020 -

IPAB Workshop-21/05/2020

Christian Rauch, Theodoros Stouraitis
https://eu.bbcollab.com/guest/2a022a8d2a8842658454c974fcfd63fc

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