Given a demonstration of a complex manipulation task, such as pouring liquid from one container to another, we seek to generate a motion plan for a new task instance involving objects with different geometries. This is nontrivial since we need to simultaneously ensure that the implicit motion constraints are satisfied (glass held upright while moving), that the motion is collision-free, and that the task is successful (e.g., liquid is poured into the target container). We solve this problem by identifying the positions of critical locations and associating a reference frame (called "motion transfer frames") on the manipulated object and the target, selected based on their geometries and the task at hand. By tracking and transferring the path of the motion transfer frames, we generate motion plans for arbitrary task instances with objects of different geometries and poses. We show results from simulation as well as robot experiments on physical objects to evaluate the effectiveness of our solution. A video supplement is available on YouTube: https://youtu.be/RuG9zMXnfR8

翻译：给定一个复杂操作任务（例如将液体从一个容器倒入另一个容器）的演示，我们旨在为涉及不同几何形状物体的新任务实例生成运动规划。由于需要同时确保满足隐式运动约束（移动时玻璃杯保持直立）、运动无碰撞以及任务成功（例如液体倒入目标容器），该问题具有挑战性。我们通过识别关键位置点，并根据物体几何特征与任务需求，在被操作物体与目标物体上建立参考坐标系（称为"运动传递坐标系"）来解决此问题。通过追踪并传递运动传递坐标系的轨迹，我们能够为具有不同几何形状和位姿的任意任务实例生成运动规划。我们在仿真环境与物理机器人实验中评估了所提方法的有效性。视频补充材料发布于YouTube：https://youtu.be/RuG9zMXnfR8