Long-Horizon Manipulation of Unknown Objects via Task and Motion Planning with Estimated Affordances.
Aidan CurtisXiaolin FangLeslie Pack KaelblingTomás Lozano-PérezCaelan Reed GarrettPublished in: ICRA (2022)
Keyphrases
- motion planning
- manipulation tasks
- degrees of freedom
- path planning
- trajectory planning
- humanoid robot
- robotic tasks
- mobile robot
- autonomous mobile robot
- robot arm
- robotic arm
- multi robot
- belief space
- d objects
- obstacle avoidance
- inverse kinematics
- control law
- moving objects
- potential field
- scene understanding
- mechanical systems
- viewpoint