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This video shows demos of the robot executing plans
using baseline methods and our planner

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Our analytical model assumes the rod is rigidly attached to the gripper.  

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The random and analytical-model-only baselines then use that model,  even when it is unreliable


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However, in the real world, the rod often pivots and gets dropped. 

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Our planner prefers grasping from the center because it can use the analytical model for the rod and robot accurately 

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We also evaluate our method on a task where the robot needs to open a drawer and place a rod in. The robot has 2 analytical models and a simulator available.

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Similarly, baselines which use the analytical model without reasoning about where its accurate select grasps that cause unexpected transitions during execution

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Our method selects between two different analytical models where they are accurate to quickly compute plans that can be executed reliably
