A Long Horizon Planning Framework for Manipulating Rigid Pointcloud Objects

Anthony Simeonov, Yilun Du, Beomjoon Kim, Francois Robert Hogan, Joshua B. Tenenbaum, Pulkit Agrawal, Alberto Rodriguez

Abstract: We present a framework for solving long-horizon planning problems involving manipulation of rigid objects that operates directly from a point-cloud observation. Our method plans in the space of obj...