Planning for Multi-Object Manipulation with Graph Neural Network Relational Classifiers
Yixuan Huang,Adam Conkey,Tucker Hermans,Yixuan Huang,Adam Conkey,Tucker Hermans
Objects rarely sit in isolation in human environments. As such, we'd like our robots to reason about how multiple objects relate to one another and how those relations may change as the robot interacts with the world. To this end, we propose a novel graph neural network framework for multi-object manipulation to predict how inter-object relations change given robot actions. Our model operates on p...
