3 accepted papers
In partially known environments, robots must combine exploration to gather information with task planning for efficient execution. To address this challenge, we propose EPoG, an Exploration-based sequential manipulation Planning framework on Graph-based representations. EPoG integrates a graph-based…
Robots deployed in unstructured environments must coordinate whole-body motion---simultaneously moving a mobile base and arm---to interact with the physical world. This coupled mobility and dexterity yields a state space that grows combinatorially with scene and object diversity, demanding datasets
We devise a 3D scene graph representation, contact graph+ (cg+), for efficient sequential manipulation planning. Augmented with predicate-like attributes, this contact graph-based representation abstracts scene layouts with succinct geometric information and valid robot-scene interactions. Goal conf…