Decision Making in Joint Push-Grasp Action Space for Large-Scale Object Sorting
Zherong Pan Kris Hauser Zherong Pan Kris Hauser
We present a planner for large-scale (un)labeled object sorting tasks, which uses two types of manipulation actions: overhead grasping and planar pushing. The grasping action offers completeness guarantee under mild assumptions, and the planar pushing is an acceleration strategy that moves multiple objects at once. We make two main contributions: (1) We propose a bilevel planning algorithm. Our hi...