A Long Horizon Planning Framework for Manipulating Rigid Pointcloud Objects

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...

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Veröffentlicht in:	arXiv.org 2020-11
Hauptverfasser:	Simeonov, Anthony, Du, Yilun, Kim, Beomjoon, Hogan, Francois R, Tenenbaum, Joshua, Agrawal, Pulkit, Rodriguez, Alberto
Format:	Artikel
Sprache:	eng
Schlagworte:	Computer architecture Graphical representations Motion planning Neural networks Rigid structures Robots Three dimensional models Websites
Online-Zugang:	Volltext
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