SGTM 2.0: Autonomously Untangling Long Cables using Interactive Perception
IEEE International Conference on Robotics and Automation (ICRA) 2023
Kaushik Shivakumar*, Vainavi Viswanath*, Anrui Gu, Yahav Avigal, Justin Kerr, Jeffrey Ichnowski, Richard Cheng, Thomas Kollar, Ken Goldberg. (* equal contribution) https://arxiv.org/abs/2209.13706
This paper extends prior work on autonomously untangling long cables by introducing novel uncertainty quantification metrics and actions that interact with the cable to reduce perception uncertainty. We present Sliding and Grasping for Tangle Manipulation 2.0 (SGTM 2.0), a system that autonomously untangles cables. Experiments suggest that SGTM 2.0 can achieve 83% untangling success on cables with 1 or 2 overhand and figure-8 knots, and 70% termination detection success across these configurations, outperforming SGTM 1.0 by 43% in untangling accuracy and 200% in full rollout speed.