Planning with Selective Physics-based Simulation for Manipulation Among Movable Objects
Muhammad Suhail Saleem,Maxim Likhachev,Muhammad Suhail Saleem,Maxim Likhachev
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 moveable and avoiding interactions with certain fragile containers. A physics-ba...
