Prioritized Planning for Target-Oriented Manipulation via Hierarchical Stacking Relationship Prediction
Zewen Wu,Jian Tang,Xingyu Chen,Chengzhong Ma,Xuguang Lan,Nanning Zheng,Zewen Wu,Jian Tang,Xingyu Chen,Chengzhong Ma,Xuguang Lan,Nanning Zheng
In scenarios involving grasping multiple targets, the learning of stacking relationships between objects is fundamental for robots to execute safely and efficiently. However, current methods lack subdivision for the hierarchy of stacking relationship types. In scenes where objects are mostly stacked in an orderly manner, they are incapable of performing human-like and high-efficient grasping decis...
