Haewon Jung

$\texttt{SPIN}$: distilling $\texttt{Skill-RRT}$ for long-horizon prehensile and non-prehensile manipulation

Current robots struggle with long-horizon manipulation tasks requiring sequences of prehensile and non-prehensile skills, contact-rich interactions, and long-term reasoning. We present $\texttt{SPIN}$ ($\textbf{S}$kill $\textbf{P}$lanning to $\textbf{IN}$ference), a framework that distills a computa…