Diagrammatic Instructions to Specify Spatial Objectives and Constraints with Applications to Mobile Base Placement
arxiv(2024)
摘要
This paper introduces Spatial Diagrammatic Instructions (SDIs), an approach
for human operators to specify objectives and constraints that are related to
spatial regions in the working environment. Human operators are enabled to
sketch out regions directly on camera images that correspond to the objectives
and constraints. These sketches are projected to 3D spatial coordinates, and
continuous Spatial Instruction Maps (SIMs) are learned upon them. These maps
can then be integrated into optimization problems for tasks of robots. In
particular, we demonstrate how Spatial Diagrammatic Instructions can be applied
to solve the Base Placement Problem of mobile manipulators, which concerns the
best place to put the manipulator to facilitate a certain task. Human operators
can specify, via sketch, spatial regions of interest for a manipulation task
and permissible regions for the mobile manipulator to be at. Then, an
optimization problem that maximizes the manipulator's reachability, or
coverage, over the designated regions of interest while remaining in the
permissible regions is solved. We provide extensive empirical evaluations, and
show that our formulation of Spatial Instruction Maps provides accurate
representations of user-specified diagrammatic instructions. Furthermore, we
demonstrate that our diagrammatic approach to the Mobile Base Placement Problem
enables higher quality solutions and faster run-time.
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