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A Long Horizon Planning Framework for Manipulating Rigid Pointcloud Objects
[article]
2020
arXiv
pre-print
We present a framework for solving long-horizon planning problems involving manipulation of rigid objects that operates directly from a point-cloud observation, i.e. without prior object models. Our method plans in the space of object subgoals and frees the planner from reasoning about robot-object interaction dynamics by relying on a set of generalizable manipulation primitives. We show that for rigid bodies, this abstraction can be realized using low-level manipulation skills that maintain
arXiv:2011.08177v1
fatcat:4c6bjdnegjczbftae7rpoj7oqi