Hierarchical Planning for Rope Manipulation using Knot Theory and a Learned Inverse Model

Matan Sudry, Tom Jurgenson, Aviv Tamar, Erez Karpas
Proceedings of The 7th Conference on Robot Learning, PMLR 229:1596-1609, 2023.

Abstract

This work considers planning the manipulation of deformable 1-dimensional objects, such as ropes or cables, specifically to tie knots. We propose TWISTED: Tying With Inverse model and Search in Topological space Excluding Demos, a hierarchical planning approach which, at the high level, uses ideas from knot-theory to plan a sequence of rope configurations, while at the low level uses a neural-network inverse model to move between the configurations in the high-level plan. To train the neural network, we propose a self-supervised approach, where we learn from random movements of the rope. To focus the random movements on interesting configurations, such as knots, we propose a non-uniform sampling method tailored for this domain. In a simulation, we show that our approach can plan significantly faster and more accurately than baselines. We also show that our plans are robust to parameter changes in the physical simulation, suggesting future applications via sim2real.

Cite this Paper

BibTeX
@InProceedings{pmlr-v229-sudry23a, title = {Hierarchical Planning for Rope Manipulation using Knot Theory and a Learned Inverse Model}, author = {Sudry, Matan and Jurgenson, Tom and Tamar, Aviv and Karpas, Erez}, booktitle = {Proceedings of The 7th Conference on Robot Learning}, pages = {1596--1609}, year = {2023}, editor = {Tan, Jie and Toussaint, Marc and Darvish, Kourosh}, volume = {229}, series = {Proceedings of Machine Learning Research}, month = {06--09 Nov}, publisher = {PMLR}, pdf = {https://proceedings.mlr.press/v229/sudry23a/sudry23a.pdf}, url = {https://proceedings.mlr.press/v229/sudry23a.html}, abstract = {This work considers planning the manipulation of deformable 1-dimensional objects, such as ropes or cables, specifically to tie knots. We propose TWISTED: Tying With Inverse model and Search in Topological space Excluding Demos, a hierarchical planning approach which, at the high level, uses ideas from knot-theory to plan a sequence of rope configurations, while at the low level uses a neural-network inverse model to move between the configurations in the high-level plan. To train the neural network, we propose a self-supervised approach, where we learn from random movements of the rope. To focus the random movements on interesting configurations, such as knots, we propose a non-uniform sampling method tailored for this domain. In a simulation, we show that our approach can plan significantly faster and more accurately than baselines. We also show that our plans are robust to parameter changes in the physical simulation, suggesting future applications via sim2real.} }
Endnote
%0 Conference Paper %T Hierarchical Planning for Rope Manipulation using Knot Theory and a Learned Inverse Model %A Matan Sudry %A Tom Jurgenson %A Aviv Tamar %A Erez Karpas %B Proceedings of The 7th Conference on Robot Learning %C Proceedings of Machine Learning Research %D 2023 %E Jie Tan %E Marc Toussaint %E Kourosh Darvish %F pmlr-v229-sudry23a %I PMLR %P 1596--1609 %U https://proceedings.mlr.press/v229/sudry23a.html %V 229 %X This work considers planning the manipulation of deformable 1-dimensional objects, such as ropes or cables, specifically to tie knots. We propose TWISTED: Tying With Inverse model and Search in Topological space Excluding Demos, a hierarchical planning approach which, at the high level, uses ideas from knot-theory to plan a sequence of rope configurations, while at the low level uses a neural-network inverse model to move between the configurations in the high-level plan. To train the neural network, we propose a self-supervised approach, where we learn from random movements of the rope. To focus the random movements on interesting configurations, such as knots, we propose a non-uniform sampling method tailored for this domain. In a simulation, we show that our approach can plan significantly faster and more accurately than baselines. We also show that our plans are robust to parameter changes in the physical simulation, suggesting future applications via sim2real.
APA
Sudry, M., Jurgenson, T., Tamar, A. & Karpas, E.. (2023). Hierarchical Planning for Rope Manipulation using Knot Theory and a Learned Inverse Model. Proceedings of The 7th Conference on Robot Learning, in Proceedings of Machine Learning Research 229:1596-1609 Available from https://proceedings.mlr.press/v229/sudry23a.html.

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