Incremental Few-Shot Adaptation for Non-Prehensile Object Manipulation using Parallelizable Physics Simulators
<|reference_start|>Incremental Few-Shot Adaptation for Non-Prehensile Object Manipulation using Parallelizable Physics Simulators: Few-shot adaptation is an important capability for intelligent robots that perform tasks in open-world settings such as everyday environments or flexible production. In this paper, we propose a novel approach for non-prehensile manipulation which iteratively adapts a physics-based dynamics model for model-predictive control. We adapt the parameters of the model incrementally with a few examples of robot-object interactions. This is achieved by sampling-based optimization of the parameters using a parallelizable rigid-body physics simulation as dynamic world model. In turn, the optimized dynamics model can be used for model-predictive control using efficient sampling-based optimization. We evaluate our few-shot adaptation approach in several object pushing experiments in simulation and with a real robot.<|reference_end|>
@article{baumeister2024incremental,
    title={Incremental Few-Shot Adaptation for Non-Prehensile Object Manipulation
  using Parallelizable Physics Simulators},
    author={Fabian Baumeister and Lukas Mack and Joerg Stueckler},
    journal={arXiv preprint arXiv:2409.13228},
    year={2024},
    archivePrefix={arXiv},
    eprint={2409.13228},
    primaryClass={cs.RO cs.LG}
}