Predicting Motion Plans for Articulating Everyday Objects
Arjun Gupta,Max E. Shepherd,Saurabh Gupta,Arjun Gupta,Max E. Shepherd,Saurabh Gupta
Mobile manipulation tasks such as opening a door, pulling open a drawer, or lifting a toilet seat require constrained motion of the end-effector under environmental and task constraints. This, coupled with partial information in novel environments, makes it challenging to employ classical motion planning approaches at test time. Our key insight is to cast it as a learning problem to leverage past ...
