论文标题

使用横向访问X射线在货架上机械搜索

Mechanical Search on Shelves using Lateral Access X-RAY

论文作者

Huang, Huang, Dominguez-Kuhne, Marcus, Ichnowski, Jeffrey, Satish, Vishal, Danielczuk, Michael, Sanders, Kate, Lee, Andrew, Angelova, Anelia, Vanhoucke, Vincent, Goldberg, Ken

论文摘要

在许多情况下,例如仓库,零售,医疗保健,运输和房屋,有效地找到具有横向访问的遮挡物体。我们介绍了Lax-ray(横向访问最大减少入住支撑区域),该系统是一种自动化机械搜索架子上遮挡物体的系统。对于这种横向访问环境,宽松射线通过机械搜索策略预测目标对象占用支撑分布的感知管道,该策略依次选择遮挡对象以推向侧面以尽可能有效地揭示目标。在挤出的多边形对象和具有已知纵横比的固定目标的背景下,我们探索了三个横向访问搜索策略:分布区域减少(DAR),分布熵降低(DER)和分布熵在多个时间步长(DER-MT)利用支持分布和先验信息。我们使用一阶架子模拟器(FOSS)评估了这些策略,其中我们模拟了800个随机架子环境的不同难度,并且在带有fetch机器人和嵌入式PrimeSense RGBD相机的物理架子环境中。成功率为87.3%的平均模拟结果表明,通过2个预测步骤,DER-MT的性能更好。当部署在机器人上时,结果显示所有政策的成功率至少为80%,这表明Lax-Ray可以在现实中有效揭示目标对象。与基线策略相比,在非平凡情况下,这两个结果表明,这三个拟议的策略的性能明显更好,表明了分布预测的重要性。可以在https://sites.google.com/berkeley.edu/lax-ray上找到代码,视频和补充材料。

Efficiently finding an occluded object with lateral access arises in many contexts such as warehouses, retail, healthcare, shipping, and homes. We introduce LAX-RAY (Lateral Access maXimal Reduction of occupancY support Area), a system to automate the mechanical search for occluded objects on shelves. For such lateral access environments, LAX-RAY couples a perception pipeline predicting a target object occupancy support distribution with a mechanical search policy that sequentially selects occluding objects to push to the side to reveal the target as efficiently as possible. Within the context of extruded polygonal objects and a stationary target with a known aspect ratio, we explore three lateral access search policies: Distribution Area Reduction (DAR), Distribution Entropy Reduction (DER), and Distribution Entropy Reduction over Multiple Time Steps (DER-MT) utilizing the support distribution and prior information. We evaluate these policies using the First-Order Shelf Simulator (FOSS) in which we simulate 800 random shelf environments of varying difficulty, and in a physical shelf environment with a Fetch robot and an embedded PrimeSense RGBD Camera. Average simulation results of 87.3% success rate demonstrate better performance of DER-MT with 2 prediction steps. When deployed on the robot, results show a success rate of at least 80% for all policies, suggesting that LAX-RAY can efficiently reveal the target object in reality. Both results show significantly better performance of the three proposed policies compared to a baseline policy with uniform probability distribution assumption in non-trivial cases, showing the importance of distribution prediction. Code, videos, and supplementary material can be found at https://sites.google.com/berkeley.edu/lax-ray.

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