Dynamic Grasping with a Learned Meta-Controller

• Published in: arXiv.org
• Main Authors: Jia, Yinsen, Xu, Jingxi, Jayaraman, Dinesh, Song, Shuran
• Format: Paper
• Language: English
• Published: Ithaca Cornell University Library, arXiv.org 26.03.2024
• Subjects: Barriers; Budgets; Controllers; Motion planning; Parameters

Grasping moving objects is a challenging task that requires multiple submodules such as object pose predictor, arm motion planner, etc. Each submodule operates under its own set of meta-parameters. For example, how far the pose predictor should look into the future (i.e., look-ahead time) and the ma...