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This paper considers the problem of retrieving an object from many tightly packed objects using a combination of robotic pushing and grasping actions. Object retrieval in dense clutter is an important skill for robots to operate in households and everyday environments effectively. The proposed solution, Visual Foresight Tree (VFT), intelligently rearranges the clutter surrounding a target object so that it can be grasped easily. Rearrangement with nested nonprehensile actions is challenging asarXiv:2105.02857v2 fatcat:lfmfxh7e4navdnudnzak2oxt6i