3 accepted papers
Robotic manipulation is a fundamental challenge in the pursuit of automating household tasks and advancing robotic manufacturing. Manipulation planning for deformable objects is particularly challenging due to the associated large action spaces and complex dynamics. For deformable objects, some acti
Robotic manipulation of deformable objects remains challenging due to the high dimensional configuration space and complex dynamics. In this work we demonstrate how the abstraction level used for modeling deformable objects can significantly impact the difficulty of the motion planning problem. We s
Task and motion planning is one of the key problems in robotics today. It is often formulated as a discrete task allocation problem combined with continuous motion planning. Many existing approaches to TAMP involve explicit descriptions of task primitives that cause discrete changes in the kinematic…