OmniHang: Learning to Hang Arbitrary Objects using Contact Point Correspondences and Neural Collision Estimation
Yifan You Lin Shao Toki Migimatsu Jeannette Bohg Yifan You Lin Shao Toki Migimatsu Jeannette Bohg
In this paper, we explore whether a robot can learn to hang arbitrary objects onto a diverse set of supporting items such as racks or hooks. Endowing robots with such an ability has applications in many domains such as domestic services, logistics, or manufacturing. Yet, it is a challenging manipulation task due to the large diversity of geometry and topology of everyday objects. In this paper, we...