论文标题
描述物理推理的物理：基于力的顺序操作计划
Describing Physics For Physical Reasoning: Force-based Sequential Manipulation Planning
论文作者
论文摘要
物理推理是动物和人类智力的核心方面。一个核心问题是应将哪种模型用作推理的基础。现有的工作认为模型从直观的物理和物理模拟器到接触机器人操纵和运动中使用的动态模型。在这项工作中，我们提出了物理学的描述，这些描述直接使我们能够利用优化方法进行物理推理和顺序操纵计划。提出的多物理公式使求解器可以为溶液的不同对象和阶段混合各种级别的抽象和简化。作为基本要素，我们提出了路径优化框架中对象表面之间扳手交换的特定参数化，并将攻击点作为决策变量。我们演示了各种机器人操纵计划问题的方法，例如抓住棍子，以将或将另一个物体抬高到目标，从搁置中转移和抓住一本书，并扔一个物体向目标反弹。
Physical reasoning is a core aspect of intelligence in animals and humans. A central question is what model should be used as a basis for reasoning. Existing work considered models ranging from intuitive physics and physical simulators to contact dynamics models used in robotic manipulation and locomotion. In this work we propose descriptions of physics which directly allow us to leverage optimization methods for physical reasoning and sequential manipulation planning. The proposed multi-physics formulation enables the solver to mix various levels of abstraction and simplifications for different objects and phases of the solution. As an essential ingredient, we propose a specific parameterization of wrench exchange between object surfaces in a path optimization framework, introducing the point-of-attack as decision variable. We demonstrate the approach on various robot manipulation planning problems, such as grasping a stick in order to push or lift another object to a target, shifting and grasping a book from a shelve, and throwing an object to bounce towards a target.
