Deformable linear objects (DLOs) are crucial in robotics for various applications, and modeling their dynamics accurately is challenging. The PRB-Net model aims to address this challenge by providing physically interpretable predictions from partial observations of DLOs.
The article introduces the PRB-Net model designed for predicting DLO dynamics from partial observations. It demonstrates that the model offers physically interpretable state representations and shows comparable accuracy to black-box models while being more interpretable.
Experiments with aluminum rod and foam cylinder DLOs show that PRB-Net provides accurate predictions, maintaining sub-decimeter RMSE even with significant motion deviations. The model's performance is on par with black-box models, showcasing its physical interpretability.
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by Sham... lúc arxiv.org 03-21-2024
https://arxiv.org/pdf/2307.07975.pdfYêu cầu sâu hơn