GAMMA: Generalizable Articulation Modeling and Manipulation for Articulated Objects

概述

ICRA2024
项目主页：https://sites.google.com/view/gamma-articulation
文章解读参考：https://blog.csdn.net/passer__jw767/article/details/137059239
    

方法

工作动机

lack generalizability to unseen objects

方法架构

功能组成：
Articulation modeling block：segments the articulated parts，estimates the joint parameters.
Grasp pose affordance block：estimates the actionability of each grasp pose ，chooses the ideal ones
Adaptive manipulation：provides open-loop trajectory planning，iteratively update the joint parameters

实验

数据集验证分为两个部分，Articulated Object Modeling(baseline：ANCSH)和Articulation Manipulation