Learning Preconditions of Hybrid Force-Velocity Controllers for Contact-Rich Manipulation

Real-World Videos

Example plan executions in simulation across different task scenarios and objects. The part of the videos where the robot arm "swings" around the entire setup is when the arm is taking multiple depth images from different angles to construct the point cloud of the scene.

All videos are sped up 10x.

s_middle_wall_apanage_box_0.mp4

s_wall_wall_occipital_box_0.mp4

s_wall_middle_pudding_box_0.mp4

s_wall_middle_lotion_bottle_0.mp4

s_middle_wall_pottedd_meat_can_1.mp4

s_middle_wall_pudding_box_0.mp4

s_wall_wall_apanage_box_0.mp4

s_middle_wall_apanage_box_1.mp4

s_wall_middle_lotion_bottle_2.mp4

s_middle_wall_tomato_soup_can_0.mp4

s_wall_middle_occipital_box_0.mp4

s_wall_wall_lotion_bottle_0.mp4

s_middle_wall_occipital_box_0.mp4

s_wall_middle_occipital_box_2.mp4

s_wall_middle_pudding_box_0_1.mp4

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