Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Object and Relation Centric Representations for Push Effect Prediction   Pushing is an essential non-prehensile manipulation skill used for tasks
ranging from pre-grasp manipulation to scene rearrangement, reasoning about
object relations in the scene, and thus pushing actions have been widely
studied in robotics. The effective use of pushing actions often requires an
understanding of the dynamics of the manipulated objects and adaptation to the
discrepancies between prediction and reality. For this reason, effect
prediction and parameter estimation with pushing actions have been heavily
investigated in the literature. However, current approaches are limited because
they either model systems with a fixed number of objects or use image-based
representations whose outputs are not very interpretable and quickly accumulate
errors. In this paper, we propose a graph neural network based framework for
effect prediction and parameter estimation of pushing actions by modeling
object relations based on contacts or articulations. Our framework is validated
both in real and simulated environments containing different shaped multi-part
objects connected via different types of joints and objects with different
masses. Our approach enables the robot to predict and adapt the effect of a
pushing action as it observes the scene. Further, we demonstrate 6D effect
prediction in the lever-up action in the context of robot-based hard-disk
disassembly.

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The categories of this paper are: gr-qc
33
The categories of this paper are: plasm-ph
37
The categories of this paper are: supr-con
9
The categories of this paper are: nlin
19
The categories of this paper are: eess
16
The categories of this paper are: stat
30
The categories of this paper are: q-alg
4
The categories of this paper are: cond-mat
23
The categories of this paper are: solv-int
13
The categories of this paper are: quant-ph
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The categories of this paper are: math-ph
28
The categories of this paper are: alg-geom
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The categories of this paper are: patt-sol
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The categories of this paper are: bayes-an
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The categories of this paper are: acc-phys
36
The categories of this paper are: cmp-lg