Object Reconfiguration with Simulation-Derived Feasible Actions

Understand

3D object reconfiguration encompasses common robot manipulation tasks in which a set of objects must be moved through a series of physically feasible state changes into a desired final configuration.

• Object reconfiguration is challenging to solve in general, as it requires efficient reasoning about environment physics that determine action validity.
• This information is typically manually encoded in an explicit transition system.
• Constructing these explicit encodings is tedious and error-prone, and is often a bottleneck for planner use.