Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Ab Initio Particle-based Object Manipulation   This paper presents Particle-based Object Manipulation (Prompt), a new
approach to robot manipulation of novel objects ab initio, without prior object
models or pre-training on a large object data set. The key element of Prompt is
a particle-based object representation, in which each particle represents a
point in the object, the local geometric, physical, and other features of the
point, and also its relation with other particles. Like the model-based
analytic approaches to manipulation, the particle representation enables the
robot to reason about the object's geometry and dynamics in order to choose
suitable manipulation actions. Like the data-driven approaches, the particle
representation is learned online in real-time from visual sensor input,
specifically, multi-view RGB images. The particle representation thus connects
visual perception with robot control. Prompt combines the benefits of both
model-based reasoning and data-driven learning. We show empirically that Prompt
successfully handles a variety of everyday objects, some of which are
transparent. It handles various manipulation tasks, including grasping,
pushing, etc,. Our experiments also show that Prompt outperforms a
state-of-the-art data-driven grasping method on the daily objects, even though
it does not use any offline training data.

30
The categories of this paper are: q-alg
8
The categories of this paper are: hep-ex
25
The categories of this paper are: patt-sol
35
The categories of this paper are: mtrl-th
11
The categories of this paper are: hep-lat
37
The categories of this paper are: supr-con
4
The categories of this paper are: cond-mat
6
The categories of this paper are: astro-ph
2
The categories of this paper are: math
18
The categories of this paper are: econ
33
The categories of this paper are: plasm-ph
36
The categories of this paper are: cmp-lg
24
The categories of this paper are: dg-ga
19
The categories of this paper are: eess
26
The categories of this paper are: bayes-an
34
The categories of this paper are: chem-ph