2026
Uncertainty-Aware Non-Prehensile Manipulation with Mobile Manipulators under Object-Induced Occlusion
ICRA 2026poster
Non-prehensile manipulation using onboard sensing presents a fundamental challenge: the manipulated object occludes the sensor's field of view, creating occluded regions that can lead to collisions. We propose CURA-PPO, a reinforcement learning framework that addresses this challenge by explicitly m…