Watch, Infer, Coordinate: Inferring Robot Partner Constraints for Zero-Shot Coordination
[Robotyka] Autorzy: Suyu Ye, Zheyuan Zhang, Vaishnav Tadiparthi i 5 więcej
Robots operating in the physical world will increasingly need to coordinate with other robots, particularly in manipulation tasks where an object may be too large or heavy for a single robot to carry alone. Physical limitations caused by hardware degradation or actuator faults can restrict the actions a robot can reliably execute, yet these limitations may be unknown to its partner. We study whether a helper can infer a robot partner's physical constraints from observing it coordinate with another robot, then use the inferred capability to coordinate with the same partner on a new task. This is difficult because a demonstration shows what the constrained robot did, but not what it could have done. In physically coupled tasks, the other robot may also compensate for its limitations, making those limitations difficult to identify from the constrained robot's behavior alone. Our key insigh…
- Kategoria arxiv
- cs.RO
- Kategoria
- Robotyka