Stable Object Placement Under Geometric Uncertainty via Differentiable Contact Dynamics
<|reference_start|>Stable Object Placement Under Geometric Uncertainty via Differentiable Contact Dynamics: From serving a cup of coffee to carefully rearranging delicate items, stable object placement is a crucial skill for future robots. This skill is challenging due to the required accuracy, which is difficult to achieve under geometric uncertainty. We leverage differentiable contact dynamics to develop a principled method for stable object placement under geometric uncertainty. We estimate the geometric uncertainty by minimizing the discrepancy between the force-torque sensor readings and the model predictions through gradient descent. We further keep track of a belief over multiple possible geometric parameters to mitigate the gradient-based method's sensitivity to the initialization. We verify our approach in the real world on various geometric uncertainties, including the in-hand pose uncertainty of the grasped object, the object's shape uncertainty, and the environment's shape uncertainty.<|reference_end|>
@article{li2024stable,
    title={Stable Object Placement Under Geometric Uncertainty via Differentiable
  Contact Dynamics},
    author={Linfeng Li, Gang Yang, Lin Shao, David Hsu},
    journal={arXiv preprint arXiv:2409.17725},
    year={2024},
    archivePrefix={arXiv},
    eprint={2409.17725},
    primaryClass={cs.RO}
}