Non-Prehensile Manipulation in Clutter with Human-In-The-Loop
Rafael Papallas,Mehmet R. Dogar,Rafael Papallas,Mehmet R. Dogar
We propose a human-operator guided planning approach to pushing-based manipulation in clutter. Most recent approaches to manipulation in clutter employs randomized planning. The problem, however, remains a challenging one where the planning times are still in the order of tens of seconds or minutes, and the success rates are low for difficult instances of the problem. We build on these control-bas...
