Efficient Object Manipulation to an Arbitrary Goal Pose: Learning-Based Anytime Prioritized Planning
Kechun Xu,Hongxiang Yu,Renlang Huang,Dashun Guo,Yue Wang,Rong Xiong,Kechun Xu,Hongxiang Yu,Renlang Huang,Dashun Guo,Yue Wang,Rong Xiong
We focus on the task of object manipulation to an arbitrary goal pose, in which a robot is supposed to pick an assigned object to place at the goal position with a specific orientation. However, limited by the execution space of the manipulator with gripper, one-step picking, moving and releasing might be failed, where a reorientation object pose is required as a transition. In this paper, we prop...
