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Putting Groceries in Cupboard

Alex Withers, Braden Eichmeier, Justin Morris

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The Problem

  • Many kitchens are designed with storage at or above average shoulder height
  • A non-trivial portion of the population struggles to lift items to this height
  • Robots could provide assistance with this task

However:

  • Grocery items exist in a variety of shapes
  • Cabinets are confined spaces that require specific angles of access
  • Edge cases are difficult to account for with traditional methods

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Challenges

Accessing Area Under Cupboard��Objects Near Walls��Unrealistic Physics��Unexecuted Commands

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Our Approach: Forward Task

Forward Task:

  • Manual agent stages gripper above object
  • RL agent grasps object
  • Manual agent stages gripper in front of cupboard
  • RL agent places object in cupboard

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Our Approach: Resetting Task

Resetting Task:

  • Remove food from cupboard
  • Place in random location within spawning area

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RL Methods Implemented

Grasping Agent:�Actions: �Height, Yaw, Grasp�Inputs: �Gripper/Target Poses, Gripper Status, Target��Placing Agent:�Actions: �(X,Y,Z) Position, Gripper Open/Close�Inputs: �Gripper/Target Poses, Gripper Status, Target

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Resetting Methods Implemented

Retrieval

  1. Move to position outside cupboard, aligned with object in cupboard XY plane
  2. Move along cupboard Z axis towards object with gripper closed
  3. Use built-in grasp() function to attach object to gripper
  4. Retract from cupboard

Resetting

  1. Select random position within object spawning area
  2. Choose Z position equal to object height above table
  3. Move to position and release grasp

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Resetting Methods Implemented

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Future Work

CV Object Localization

Expanded RL capabilities

Comprehensive Motion Planning

Designated Groceries Locations

Robust Motion Commands

Orientation Resetting