Disentangling Planning and Control for Non-prehensile Tabletop Manipulation
Published in IEEE International Conference on Automation Science and Engineering (CASE 2023), 2023
We present a framework that explicitly disentangles planning and control for non-prehensile tabletop manipulation tasks. The separation allows the planner to reason over object rearrangement at a high level while the controller executes the contact-rich motions, leading to improved generalization and robustness.
Authors: Vishal Mandadi*, Kallol Saha, Dipanwita Guhathakurta, M. Nomaan Qureshi, Aditya Agarwal, Bipasha Sen, Dipanjan Das, Brojeshwar Bhowmick, Arun Singh, Madhava Krishna
(* equal contribution)