Learning-based Feedback Controller for Deformable Object Manipulation

Understand

In this paper, we present a general learning-based framework to automatically visual-servo control the position and shape of a deformable object with unknown deformation parameters.

• The servo-control is accomplished by learning a feedback controller that determines the robotic end-effector's movement according to the deformable object's current status.
• This status encodes the object's deformation behavior by using a set of observed visual features, which are either manually designed or automatically extracted from the robot's sensor stream.
• A feedback control policy is then optimized to push the object toward a desired featured status efficiently.