kPAM-SC: Generalizable Manipulation Planning using KeyPoint Affordance and Shape Completion
Wei Gao,Russ Tedrake,Wei Gao,Russ Tedrake
While traditional approaches to manipulation planning assume known object templates, recent approaches to "category-level manipulation" aim to manipulate a category of objects with potentially unknown instances and large intra-category shape variation. In this paper we explore an object representation to enable precise category-level manipulation, capturing a notion of the object configuration and...
