{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/learning-to-singulate-objects-using-a-push","title":"Learning to Singulate Objects using a Push Proposal Network","arxiv_id":"1707.08101","date":"2017-07-25","proceeding":null,"authors":["Andreas Eitel","Nico Hauff","Wolfram Burgard"],"abstract":"Learning to act in unstructured environments, such as cluttered piles of\nobjects, poses a substantial challenge for manipulation robots. We present a\nnovel neural network-based approach that separates unknown objects in clutter\nby selecting favourable push actions. Our network is trained from data\ncollected through autonomous interaction of a PR2 robot with randomly organized\ntabletop scenes. The model is designed to propose meaningful push actions based\non over-segmented RGB-D images. We evaluate our approach by singulating up to 8\nunknown objects in clutter. We demonstrate that our method enables the robot to\nperform the task with a high success rate and a low number of required push\nactions. Our results based on real-world experiments show that our network is\nable to generalize to novel objects of various sizes and shapes, as well as to\narbitrary object configurations. Videos of our experiments can be viewed at\nhttp://robotpush.cs.uni-freiburg.de","url_abs":"http://arxiv.org/abs/1707.08101v2","url_pdf":"http://arxiv.org/pdf/1707.08101v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[],"tasks":[],"methods":[],"datasets_introduced":[{"slug":"robotpush","name":"RobotPush","full_name":"RobotPush"}],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=1707.08101","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}