PhyPlan: Generalizable and Rapid Physical Task Planning with Physics Informed Skill Networks for Robot Manipulators

Given the task of positioning a ball-like object to a goal region beyond direct reach, humans can often throw, slide, or rebound objects against the wall to attain the goal. However, enabling robots to reason similarly is non-trivial. Existing methods for physical reasoning are data-hungry and strug...

Ausführliche Beschreibung

Bibliographische Detailangaben

Veröffentlicht in:	arXiv.org 2024-04
Hauptverfasser:	Chopra, Mudit, Barnawal, Abhinav, Vagadia, Harshil, Banerjee, Tamajit, Tuli, Shreshth, Chakraborty, Souvik, Rohan, Paul
Format:	Artikel
Sprache:	eng
Schlagworte:	Decision theory Learning Neural networks Physics Reasoning Robot arms Task planning (robotics)
Online-Zugang:	Volltext
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!