信州大学のSolvi Arnoldと申します。
只今Frontiers in Neuroroboticsにて、柔軟物操作についての特集を企画しております。
詳細については以下のリンクからご確認ください。
https://www.frontiersin.org/research-topics/30922/deformable-object-manipulation
是非とも投稿をご検討ください。
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Research Topic: Deformable Object Manipulation
Manipulation of deformable objects is crucial for countless applications in household, caregiving, industrial, and surgical robotics. However, deformable objects violate many fundamental assumptions of rigid object manipulation, requiring different approaches to the problems of perception, planning, grasp selection, and control. Shape estimation can already be a major challenge, and planning further requires an understanding of how an object's shape changes under manipulation. High computational cost limits what we can do with simulation under practical time constraints, and deformable object simulation is particularly susceptible to the "reality gap".
The complexity of their dynamics and the scarcity of simplifying assumptions make deformable objects a final frontier in object manipulation, as well as an excellent testbed for cutting-edge AI research. Neural Networks and Kernel-based Probabilistic Models have made it possible to model object dynamics and extract computationally manageable features from high-dimensional state spaces, making it possible to learn sophisticated manipulation skills from human demonstrations, or iteratively learn control policies under the Reinforcement Learning framework. For practical applications, the union between AI-based and model-based techniques shows potential for improving generalization capabilities and reducing training costs. These and other innovations have led to a flurry of activity and interest in the field.
From a more theoretical angle, the topic is fascinating because humans manipulate deformables with ease, on basis of hard-to-formalize intuitions. Exploring these skills may help us understand how humans cognitively handle sub-symbolic, high-dimensional problem spaces.
This topic aims to weave together some of the many threads of research in this field in a collection of work on recent advances. We naturally welcome work representing progress on the field’s open problems, as well as novel approaches with future potential. With an eye toward practical application and integration of deformable object manipulation into broader robotic intelligence, we welcome integrative work on deformable object handling in the context of scene understanding and task understanding. Finally, in consideration of the long-term goal of obtaining more human-like manipulation skills, we welcome work elucidating the cognitive processes humans apply in deformable object manipulation with potential application to robotics.
Keywords:
? Shape Estimation
? Shape prediction
? Manipulation planning
? Deformable object simulation
? Reinforcement Learning
? Learning from Demonstration
? Gaussian Processes
? Model Predictive Control
? Dimensionality Reduction
? Household Robotics
? Surgical Robotics
Topic Editors:
? Solvi Arnold, Shinshu University, Japan
? Yunduan Cui, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, China
? Gianluca Palli, University of Bologna, Italy
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配信元・問合先――――――――――――――――――――――――――――
Solvi Arnold
信州大学
s_arnold@shinshu-u.ac.jp