Look Closer: Bridging Egocentric and Third-Person Views With Transformers for Robotic Manipulation
نویسندگان
چکیده
Learning to solve precision-based manipulation tasks from visual feedback using Reinforcement (RL) could drastically reduce the engineering efforts required by traditional robot systems. However, performing fine-grained motor control inputs alone is challenging, especially with a static third-person camera as often used in previous work. We propose setting for robotic which agent receives both and an egocentric mounted on robot’s wrist. While static, enables actively its vision aid precise manipulation. To fuse information cameras effectively, we additionally use Transformers cross-view attention mechanism that models spatial one view another (and vice-versa), learned features input RL policy. Our method improves learning over strong single-view multi-view baselines, successfully transfers set of challenging real uncalibrated cameras, no access state information, high degree task variability. In hammer task, our succeeds 75% trials versus 38% 13% respectively. Project website can be found https://jangirrishabh.github.io/lookcloser/ .
منابع مشابه
Robotic Roommates Making Pancakes - Look Into Perception-Manipulation Loop
In this paper we report on a recent public experiment that shows two robots making pancakes using web instructions. In the experiment, the robots retrieve instructions for making pancakes from the World Wide Web and generate robot action plans from the instructions. This task is jointly performed by two autonomous robots: The first robot, TUM James, opens and closes cupboards and drawers, takes...
متن کاملA ClOser lOOk
In recent years, systems of care principles have been increasingly adopted because of their potential to support efforts to improve child welfare and other human service systems in ways that lead to increased safety, permanency, and well-being for children, adolescents, and their families. However, while the systems of care approach has become more widespread, a clear understanding of what defi...
متن کاملA Closer Look Preventing Atherosclerosis with Antioxidants
©2002 HBD International, Inc. We’ve Moved! Since August 19, 2002, the operations of HBD Intl, Inc. have been conducted from a warehouse/office complex in the beautiful countryside near Nashville, Tennessee. Tanya HarrisonCoffinberry, Jean Coffinberry and Nancy Coste have moved from the former office in Delray Beach, Florida in order to provide more direct supervision of the packaging and shippi...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE robotics and automation letters
سال: 2022
ISSN: ['2377-3766']
DOI: https://doi.org/10.1109/lra.2022.3144512