sems-lifelong-manipulation

Search-Based Task Planning with Learned Skill Effect Models for Lifelong Robotic Manipulation

Jacky Liang*, Mohit Sharma*, Alex LaGrassa, Shivam Vats, Saumya Saxena, Oliver Kroemer
* Equal Contribution

Task A

Pick-Place + Tray Slide + Tray-Sweep + Bin-Tilt

Task B

Pick-Place + Tray Slide + Tray-Sweep (Left: Scenario 1, Right: Scenario: 2)

Task D

Pick-Place+Tray-Slide + Tray-Sweep + Bin-Tilt (Left: Scenario 1, Right: Scenario 2)

Real World Results (Task B)

Pick-Place

Pick-Place + Tray-Slide

Pick-Place + Tray-Slide + Tray-Sweep

Size Generalization for Task-B

Object size: 0.02 with Pick-Place

Object size: 0.02,

Pick-Place+Tray-Slide

Object size: 0.03, with Pick-Place

Object size: 0.03
Pick-Place + Tray-slide

Color Generalization for Task-B

One block with red color,

Pick-Place + Tray-Slide skills

Two blocks with red color,

Pick-Place skill only

Two blocks with red color,

Pick-Place + Tray-Slide skills

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