robotics
The Robot Threw What It Never Grasped
A learned trajectory policy uses sliding and rolling contact to launch heavy, large or deformable objects beyond pick-and-place reach.
Summary
A learned trajectory policy uses sliding and rolling contact to launch heavy, large or deformable objects beyond pick-and-place reach.
The policy plans joint-jerk trajectories without an analytical contact model, then uses system identification and uncertainty training for transfer. In simulation it reported 99% success, and zero-shot tests on a UR5e threw items up to 790 grams toward targets as far as 3.5 meters with 97% real-world success. Sensitivity remained high to dynamic friction, an important limit of the sliding release.
Why it matters
A learned trajectory policy uses sliding and rolling contact to launch heavy, large or deformable objects beyond pick-and-place reach.
Limits and context
No additional limitation was separately recorded.
Key claims
A learned trajectory policy uses sliding and rolling contact to launch heavy, large or deformable objects beyond pick-and-place reach.
Evidence: source-2026-09-02-016
Sources
- arXiv preprint 2609.00771arXiv · primary research
Corrections
No corrections have been recorded for this story.