Learning to Rearrange Deformable Cables, Fabrics, and Bags with Goal-Conditioned Transporter Networks
Daniel Seita Pete Florence Jonathan Tompson Erwin Coumans Vikas Sindhwani Ken Goldberg Andy Zeng Daniel Seita Pete Florence Jonathan Tompson Erwin Coumans Vikas Sindhwani Ken Goldberg Andy Zeng
Rearranging and manipulating deformable objects such as cables, fabrics, and bags is a long-standing challenge in robotic manipulation. The complex dynamics and high-dimensional configuration spaces of deformables, compared to rigid objects, make manipulation difficult not only for multi-step planning, but even for goal specification. Goals cannot be as easily specified as rigid object poses, and ...