Mechanical Search on Shelves with Efficient Stacking and Destacking of Objects
Mechanical Search on Shelves with Efficient Stacking and Destacking of Objects
复制标题
货架上的机械搜索可高效堆垛和卸垛物品
DOI：
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发表时间：
2022
期刊：
影响因子：
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通讯作者：
Ken Goldberg
中科院分区：
文献类型：
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作者：
Huang Huang;Letian Fu;Michael Danielczuk;C. Kim;Zachary Tam;Jeffrey Ichnowski;A. Angelova;Brian Ichter;Ken Goldberg
堆叠提高了货架的存储效率，但缺乏可见性和可访问性使得机器人难以发现和提取目标对象的机械搜索问题。在本文中，我们扩展了横向访问机械搜索问题的货架堆叠项目，并介绍了两种新的政策-分布区域减少堆叠场景（DARSS）和蒙特卡罗树搜索堆叠场景（MCTSSS）-使用卸堆和重新堆叠行动。MCTSSS通过在每个潜在动作之后考虑未来状态来改进先前的前瞻策略。在1200个模拟和18个物理试验的实验与Fetch机器人配备了刀片和吸盘表明，拆垛和restacking行动可以显示目标对象与82- 100%的成功率在模拟和66- 100%在物理实验中，是至关重要的搜索密集的货架。在模拟实验中，这两种策略都优于基线，并实现了类似的成功率，但与具有完整状态信息的Oracle策略相比，需要更多的步骤。在仿真和物理实验中，DARSS在显示目标的中值步骤数方面优于MCTSSS，但MCTSSS在物理实验中具有更高的成功率，这表明对感知噪声具有鲁棒性。有关补充材料，请参见https://sites.google.com/berkeley.edu/stax-ray。
Stacking increases storage efficiency in shelves, but the lack of visibility and accessibility makes the mechanical search problem of revealing and extracting target objects difficult for robots. In this paper, we extend the lateral-access mechanical search problem to shelves with stacked items and introduce two novel policies -- Distribution Area Reduction for Stacked Scenes (DARSS) and Monte Carlo Tree Search for Stacked Scenes (MCTSSS) -- that use destacking and restacking actions. MCTSSS improves on prior lookahead policies by considering future states after each potential action. Experiments in 1200 simulated and 18 physical trials with a Fetch robot equipped with a blade and suction cup suggest that destacking and restacking actions can reveal the target object with 82--100% success in simulation and 66--100% in physical experiments, and are critical for searching densely packed shelves. In the simulation experiments, both policies outperform a baseline and achieve similar success rates but take more steps compared with an oracle policy that has full state information. In simulation and physical experiments, DARSS outperforms MCTSSS in median number of steps to reveal the target, but MCTSSS has a higher success rate in physical experiments, suggesting robustness to perception noise. See https://sites.google.com/berkeley.edu/stax-ray for supplementary material.
影响因子：
5.3
作者：
Guo, Liang;Huang, Jia-Xin;Tang, Qi-Qun
通讯作者：
Tang, Qi-Qun