2023-12-02-kim23a.md

title	section	openreview	abstract	layout	series	publisher	issn	id	month	tex_title	firstpage	lastpage	page	order	cycles	bibtex_author	author	date	address	container-title	volume	genre	issued	pdf	extras
Leveraging 3D Reconstruction for Mechanical Search on Cluttered Shelves	Poster	ycy47ZX0Oc	Finding and grasping a target object on a cluttered shelf, especially when the target is occluded by other unknown objects and initially invisible, remains a significant challenge in robotic manipulation. While there have been advances in finding the target object by rearranging surrounding objects using specialized tools, developing algorithms that work with standard robot grippers remains an unresolved issue. In this paper, we introduce a novel framework for finding and grasping the target object using a standard gripper, employing pushing and pick and-place actions. To achieve this, we introduce two indicator functions: (i) an existence function, determining the potential presence of the target, and (ii) a graspability function, assessing the feasibility of grasping the identified target. We then formulate a model-based optimal control problem. The core component of our approach involves leveraging a 3D recognition model, enabling efficient estimation of the proposed indicator functions and their associated dynamics models. Our method succeeds in finding and grasping the target object using a standard robot gripper in both simulations and real-world settings. In particular, we demonstrate the adaptability and robustness of our method in the presence of noise in real-world vision sensor data. The code for our framework is available at https://github.com/seungyeon-k/Search-for-Grasp-public.	inproceedings	Proceedings of Machine Learning Research	PMLR	2640-3498	kim23a	0	Leveraging 3D Reconstruction for Mechanical Search on Cluttered Shelves	822	848	822-848	822	false	Kim, Seungyeon and Kim, Young Hun and Lee, Yonghyeon and Park, Frank C.	given family Seungyeon Kim given family Young Hun Kim given family Yonghyeon Lee given family Frank C. Park	2023-12-02		Proceedings of The 7th Conference on Robot Learning	229	inproceedings	date-parts 2023 12 2	https://proceedings.mlr.press/v229/kim23a/kim23a.pdf