Planning with Selective Physics-based Simulation for Manipulation Among Movable Objects

15 Mar 2020 Saleem Muhammad Suhail Likhachev Maxim

Use of physics-based simulation as a planning model enables a planner to reason and generate plans that involve non-trivial interactions with the world. For example, grasping a milk container out of a cluttered refrigerator may involve moving a robot manipulator in between other objects, pushing away the ones that are movable and avoiding interactions with certain fragile containers... (read more)

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  • ROBOTICS