Kārlis Freivalds, Laura Leja, Oskars Teikmanis. Learning to Move Objects with Fluid Streams in a Differentiable Simulation. ROBOT 2024 7th Iberian Robotics Conference, IEEE,, 2024.
Bibtex citāts:
Bibtex citāts:
@inproceedings{16862_2024,
author = {Kārlis Freivalds and Laura Leja and Oskars Teikmanis},
title = {Learning to Move Objects with Fluid Streams in a Differentiable Simulation},
journal = { ROBOT 2024 7th Iberian Robotics Conference},
publisher = {IEEE,},
year = {2024}
}
author = {Kārlis Freivalds and Laura Leja and Oskars Teikmanis},
title = {Learning to Move Objects with Fluid Streams in a Differentiable Simulation},
journal = { ROBOT 2024 7th Iberian Robotics Conference},
publisher = {IEEE,},
year = {2024}
}
Anotācija: We introduce a method for contactless manipulation of objects in three-dimensional space using controlled fluid streams. To achieve this, we train a neural network controller in a differentiable simulation and evaluate it in a simulated environment consisting of an $8\times8$ grid of vertical emitters. By carrying out various horizontal displacement tasks such as moving objects to specific positions while reacting to external perturbations, we demonstrate that a controller, trained with a limited number of iterations, can generalise to longer episodes and learn the complex dynamics of fluid-solid interactions. Importantly, our approach requires only the observation of the manipulated object's state, paving the way for the development of physical systems that enable contactless manipulation of objects using air streams.