Sequential Manipulation Planning on Scene Graph
Ziyuan Jiao,Yida Niu,Zeyu Zhang,Song-Chun Zhu,Yixin Zhu,Hangxin Liu,Ziyuan Jiao,Yida Niu,Zeyu Zhang,Song-Chun Zhu,Yixin Zhu,Hangxin Liu
We devise a 3D scene graph representation, contact graph+ (cg+), for efficient sequential manipulation planning. Augmented with predicate-like attributes, this contact graph-based representation abstracts scene layouts with succinct geometric information and valid robot-scene interactions. Goal configurations, naturally specified on contact graphs, can be produced by a genetic algorithm with a sto...
