论文标题
人类指导的非划算操纵计划者
Human-Guided Planner for Non-Prehensile Manipulation
论文作者
论文摘要
我们提出了一个人类引导的计划者，用于混乱中的非划算操纵。然而，最新的操纵方法采用了随机计划，但是，这个问题仍然是一个具有挑战性的方法，即计划时间仍处于数十秒或分钟的顺序中，并且对于问题的困难实例而言，成功率很低。我们以这些基于控制的随机计划方法为基础，但是我们将它们与人类操作员输入结合使用。我们表明，凭借最少的人类投入，低级规划师可以更快地解决问题，并以更高的成功率解决。
We present a human-guided planner for non-prehensile manipulation in clutter. Most recent approaches to manipulation in clutter employs randomized planning, however, the problem remains a challenging one where the planning times are still in the order of tens of seconds or minutes, and the success rates are low for difficult instances of the problem. We build on these control-based randomized planning approaches, but we investigate using them in conjunction with human-operator input. We show that with a minimal amount of human input, the low-level planner can solve the problem faster and with higher success rates.
