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1. Visual Identification of Articulated Object Parts

   Zeng, V.; Lee, T.; Liang, J.; Kroemer, O. (October 2021, Proceedings of the IEEERSJ International Conference on Intelligent Robots and Systems)

   null (Ed.)

   As autonomous robots interact and navigate around real-world environments such as homes, it is useful to reliably identify and manipulate articulated objects, such as doors and cabinets. Many prior works in object articulation identification require manipulation of the object, either by the robot or a human. While recent works have addressed predicting articulation types from visual observations alone, they often assume prior knowledge of category-level kinematic motion models or sequence of observations where the articulated parts are moving according to their kinematic constraints. In this work, we propose FormNet, a neural network that identifies the articulation mechanisms between pairs of object parts from a single frame of an RGB-D image and segmentation masks. The network is trained on 100k synthetic images of 149 articulated objects from 6 categories. Synthetic images are rendered via a photorealistic simulator with domain randomization. Our proposed model predicts motion residual flows of object parts, and these flows are used to determine the articulation type and parameters. The network achieves an articulation type classification accuracy of 82.5% on novel object instances in trained categories. Experiments also show how this method enables generalization to novel categories and can be applied to real-world images without fine-tuning. 

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2. Factored Pose Estimation of Articulated Objects using Efficient Nonparametric Belief Propagation

   https://doi.org/10.1109/ICRA.2019.8793973  

   Desingh, Karthik; Lu, Shiyang; Opipari, Anthony; Jenkins, Odest Chadwicke (May 2019, 2019 International Conference on Robotics and Automation (ICRA))

   Robots working in human environments often encounter a wide range of articulated objects, such as tools, cabinets, and other jointed objects. Such articulated objects can take an infinite number of possible poses, as a point in a potentially high-dimensional continuous space. A robot must perceive this continuous pose in order to manipulate the object to a desired pose. This problem of perception and manipulation of articulated objects remains a challenge due to its high dimensionality and multi-modal uncertainty. In this paper, we propose a factored approach to estimate the poses of articulated objects using an efficient non-parametric belief propagation algorithm. We consider inputs as geometrical models with articulation constraints, and observed 3D sensor data. The proposed framework produces object-part pose beliefs iteratively. The problem is formulated as a pairwise Markov Random Field (MRF) where each hidden node (continuous pose variable) models an observed object-part's pose and each edge denotes an articulation constraint between a pair of parts. We propose articulated pose estimation by a Pull Message Passing algorithm for Nonparametric Belief Propagation (PMPNBP) and evaluate its convergence properties over scenes with articulated objects. 

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3. Efficient nonparametric belief propagation for pose estimation and manipulation of articulated objects

   https://doi.org/10.1126/scirobotics.aaw4523  

   Desingh, Karthik; Lu, Shiyang; Opipari, Anthony; Jenkins, Odest Chadwicke (May 2019, Science Robotics)

   Robots working in human environments often encounter a wide range of articulated objects, such as tools, cabinets, and other jointed objects. Such articulated objects can take an infinite number of possible poses, as a point in a potentially high-dimensional continuous space. A robot must perceive this continuous pose to manipulate the object to a desired pose. This problem of perception and manipulation of articulated objects remains a challenge due to its high dimensionality and multimodal uncertainty. Here, we describe a factored approach to estimate the poses of articulated objects using an efficient approach to nonparametric belief propagation. We consider inputs as geometrical models with articulation constraints and observed RGBD (red, green, blue, and depth) sensor data. The described framework produces object-part pose beliefs iteratively. The problem is formulated as a pairwise Markov random field (MRF), where each hidden node (continuous pose variable) is an observed object-part’s pose and the edges denote the articulation constraints between the parts. We describe articulated pose estimation by a “pull” message passing algorithm for nonparametric belief propagation (PMPNBP) and evaluate its convergence properties over scenes with articulated objects. Robot experiments are provided to demonstrate the necessity of maintaining beliefs to perform goal-driven manipulation tasks. 

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4. Learning to Infer Kinematic Hierarchies for Novel Object Instances.

   Abdul-Rashid, H; Freeman, M; Abbatematteo, B; Konidaris, G.D.; Ritchie, D (May 2022, Proceedings of the 2022 International Conference on Robotics and Automation)

   Manipulating an articulated object requires perceiving its kinematic hierarchy: its parts, how each can move, and how those motions are coupled. Previous work has explored perception for kinematics, but none infers a complete kinematic hierarchy on never-before-seen object instances, without relying on a schema or template. We present a novel perception system that achieves this goal. Our system infers the moving parts of an object and the kinematic couplings that relate them. To infer parts, it uses a point cloud instance segmentation neural network and to infer kinematic hierarchies, it uses a graph neural network to predict the existence, direction, and type of edges (i.e. joints) that relate the inferred parts. We train these networks using simulated scans of synthetic 3D models. We evaluate our system on simulated scans of 3D objects, and we demonstrate a proof-of-concept use of our system to drive real-world robotic manipulation. 

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5. VAT-Mart: Learning Visual Action Trajectory Proposals for Manipulating 3D ARTiculated Objects

   Ruihai Wu, Yan Zhao (April 2022, International Conference on Learning Representations (ICLR), 2022)

   Perceiving and manipulating 3D articulated objects (e.g., cabinets, doors) in human environments is an important yet challenging task for future home-assistant robots. The space of 3D articulated objects is exceptionally rich in their myriad semantic categories, diverse shape geometry, and complicated part functionality. Previous works mostly abstract kinematic structure with estimated joint parameters and part poses as the visual representations for manipulating 3D articulated objects. In this paper, we propose object-centric actionable visual priors as a novel perception-interaction handshaking point that the perception system outputs more actionable guidance than kinematic structure estimation, by predicting dense geometry-aware, interaction-aware, and task-aware visual action affordance and trajectory proposals. We design an interaction-for-perception framework VAT-Mart to learn such actionable visual representations by simultaneously training a curiosity-driven reinforcement learning policy exploring diverse interaction trajectories and a perception module summarizing and generalizing the explored knowledge for pointwise predictions among diverse shapes. Experiments prove the effectiveness of the proposed approach using the large-scale PartNet-Mobility dataset in SAPIEN environment and show promising generalization capabilities to novel test shapes, unseen object categories, and real-world data. 

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