Lift-Equipped Mobile Manipulator

Isaac Lab shelf-transfer task with PPO training and success/failure analysis.

Lift-equipped mobile manipulator platform moving in a rack environment
Lift-equipped mobile manipulator platform for shelf-transfer experiments in multi-level rack environments.
Lift-equipped mobile manipulator platform for shelf-transfer experiments
Shelf-transfer rack setup.
Shelf-transfer sequence for the lift-equipped mobile manipulator in Isaac Lab
Shelf-transfer sequence under source-object randomization.
Isaac Lab scene for the lift-equipped mobile manipulator shelf-transfer setup
Isaac Lab platform scene used for task setup.

I designed a lift-equipped mobile manipulator platform for shelf transfer in multi-level rack environments and formulated an Isaac Lab PPO task with 9-D action / 41-D observation, staged reward terms, randomized source-object placement, and success/failure analysis.

  • Role: platform design, 9-D action / 41-D observation Isaac Lab PPO environment, shelf-transfer experiment analysis
  • Tools: Isaac Lab, PyTorch, PPO, task formulation
  • Evaluation: 50 rollout trials with +/-3 cm source-object randomization.
  • Result: 41/50 successful trials (82%); failures consisted of 3 grasp failures and 6 object-drop failures.
  • Paper: A Lift-Equipped Mobile Manipulator Platform for Shelf Transfer in Multi-Level Rack Environments. IEEE/ASME AIM 2026, accepted.
  • Code: GitHub link planned with paper release.