kPAM-SC: Generalizable Manipulation Planning using KeyPoint Affordance and Shape Completion
Wei Gao Russ Tedrake Wei Gao Russ Tedrake
While traditional approaches to manipulation planning assume known object templates, recent approaches to "category-level manipulation" aim to manipulate a category of objects with potentially unknown instances and large intra-category shape variation. In this paper we explore an object representation to enable precise category-level manipulation, capturing a notion of the object configuration and...