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cs.RO2023
An Experience-based TAMP Framework for Foliated Manifolds
Jiaming Hu, Shrutheesh R. Iyer, Henrik I. Christensen
Due to their complexity, foliated structure problems often pose intricate challenges to task and motion planning in robotics manipulation. To counter this, our study presents the `…
cs.RO2023
Multi-Modal Planning on Regrasping for Stable Manipulation
Jiaming Hu, Zhao Tang, Henrik I. Christensen
Nowadays, a number of grasping algorithms have been proposed, that can predict a candidate of grasp poses, even for unseen objects. This enables a robotic manipulator to pick-and-p…