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

Simulation Videos

Example plan executions in simulation across different task scenarios and objects. The red circles indicate object outlines at the goal pose. Note some start and goal poses have different stable poses.

All videos are sped up 10x.

potted_meat_can__wall_middle__same_sp_10x.mp4

sugar_box__middle_middle__diff_sp_10x.mp4

sugar_box__wall_middle__same_sp_10x.mp4

foam_brick__wall_wall__same_sp__pivot_10x.mp4

sugar_box__wall_middle__diff_sp_10x.mp4

tuna_fish_can__middle_wall__same_sp_10x.mp4

tuna_fish_can__middle_wall__same_sp__side_push_10x.mp4

tomato_soup_can__wall_middle__diff_sp_10x.mp4

gelatin_box__wall_wall__diff_sp_10x.mp4

pudding_box__middle_middle__diff_sp_10x.mp4

pudding_box__middle_wall__diff_sp_10x.mp4

foam_brick__wall_wall__diff_sp__slide_10x.mp4

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