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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| Format: | Thesis |
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Massachusetts Institute of Technology
2022
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| Online Access: | https://hdl.handle.net/1721.1/144772 |