RPMArt: Towards Robust Perception and Manipulation for Articulated Objects

Understand

Articulated objects are commonly found in daily life.

• It is essential that robots can exhibit robust perception and manipulation skills for articulated objects in real-world robotic applications.
• However, existing methods for articulated objects insufficiently address noise in point clouds and struggle to bridge the gap between simulation and reality, thus limiting the practical deployment in real-world scenarios.
• To tackle these challenges, we propose a framework towards Robust Perception and Manipulation for Articulated Objects (RPMArt), which learns to estimate the articulation parameters and manipulate the articulation part from the noisy point cloud.