Paper ID: 2202.11792

Let's Handle It: Generalizable Manipulation of Articulated Objects

Zhutian Yang, Aidan Curtis

In this project we present a framework for building generalizable manipulation controller policies that map from raw input point clouds and segmentation masks to joint velocities. We took a traditional robotics approach, using point cloud processing, end-effector trajectory calculation, inverse kinematics, closed-loop position controllers, and behavior trees. We demonstrate our framework on four manipulation skills on common household objects that comprise the SAPIEN ManiSkill Manipulation challenge.

Submitted: Feb 23, 2022