Abstract
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.
Abstract (translated)
本文介绍了Spatial Diagrammatic Instructions（SDIs），一种人机操作员指定与工作环境中的空间区域相关的目标和约束的方法。人机操作员可以直接在摄像头图像上绘制区域，这些区域对应于目标和约束。这些草图被投影到3D空间坐标，然后通过它们学习连续的空间指令图（SIMs）。这些地图可以 then be integrated into robot tasks的优化问题。 特别地，我们证明了SDIs可以应用于解决移动操作器的基本放置问题，该问题涉及将操作器放置到最有利于某种任务的最好位置。人机操作员可以通过草图指定操作任务的感兴趣空间和移动操作器的允许区域。然后，在指定兴趣区域的同时，求解最大化操作器可达性（或覆盖）的问题。 我们提供了广泛的实证评估，并证明了SDI构型的空间指令图提供了准确的用户指定图形的表示。此外，我们还证明了我们的移动基座放置问题图解方法提供了更高质量的解决方案，并且运行时间更短。
URL
https://arxiv.org/abs/2403.12465
