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Title:

Generating Robot Capability Maps with Neural Fields

Document type:
Konferenzbeitrag
Contribution type:
Textbeitrag / Aufsatz
Author(s):
Xinyu Chen; Jonathan Külz; Matthias Althoff
Abstract:
Many robotic applications, such as manipulation and human-robot interaction, require accurate knowledge about the workspace of a manipulator. Further, an abstraction of the capabilities of a robot arm within its workspace, often modeled by so-called capability maps, is important for grasp and task planning. Unfortunately, existing methods to identify the capabilities of a manipulator are time-consuming and data-intensive. This work proposes generating robot capability maps directly in task space...     »
Keywords:
Neural Fields, Capability Maps, Modular Robots
Dewey Decimal Classification:
600 Technik
Horizon 2020:
CONCERT
Book / Congress title:
RSS Workshop on Embodiment-Aware Robot Learning
Year:
2024
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