kPAM-SC: Generalizable Manipulation Planning using KeyPoint Affordance and Shape Completion

16 Sep 2019Wei GaoRuss Tedrake

Manipulation planning is the task of computing robot trajectories that move a set of objects to their target configuration while satisfying physically feasibility. In contrast to existing works that assume known object templates, we are interested in manipulation planning for a category of objects with potentially unknown instances and large intra-category shape variation... (read more)

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