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arXiv · 2208.08962

Stable Object Reorientation using Contact Plane Registration

Richard Li·Carlos Esteves·Ameesh Makadia·Pulkit Agrawal
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Abstract

We present a system for accurately predicting stable orientations for diverse rigid objects. We propose to overcome the critical issue of modelling multimodality in the space of rotations by using a conditional generative model to accurately classify contact surfaces. Our system is capable of operating from noisy and partially-observed pointcloud observations captured by real world depth cameras. Our method substantially outperforms the current state-of-the-art systems on a simulated stacking task requiring highly accurate rotations, and demonstrates strong sim2real zero-shot transfer results across a variety of unseen objects on a real world reorientation task. Project website: \url{https://richardrl.github.io/stable-reorientation/}

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Richard Li, Carlos Esteves, Ameesh Makadia, Pulkit Agrawal. 2022-08-18. Stable Object Reorientation using Contact Plane Registration. https://doi.org/10.1109/icra46639.2022.9811655

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