Long-Horizon Manipulation of Unknown Objects via Task and Motion Planning with Estimated Affordances
Aidan Curtis,Xiaolin Fang,Leslie Pack Kaelbling,Tomás Lozano-Pérez,Caelan Reed Garrett,Aidan Curtis,Xiaolin Fang,Leslie Pack Kaelbling,Tomás Lozano-Pérez,Caelan Reed Garrett
We present a strategy for designing and building very general robot manipulation systems using a general-purpose task-and-motion planner with both engineered and learned modules that estimate properties and affordances of unknown objects. Such systems are closed-loop policies that map from RGB images, depth images, and robot joint encoder measurements to robot joint position commands. We show that...
