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2024

Combining Planning and Diffusion for Mobility with Unknown Dynamics

Ravan, Yajvan, Yang, Zhutian, Chen, Tao et al.

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Manipulation of large objects over long horizons (such as carts in a warehouse) is an essential skill for deployable robotic systems.

Large objects require mobile manipulation which involves simultaneous manipulation, navigation, and movement with the object in tow.
In many real-world situations, object dynamics are incredibly complex, such as the interaction of an office chair (with a rotating base and five caster wheels) and the ground.
We present a hierarchical algorithm for long-horizon robot manipulation problems in which the dynamics are partially unknown.

Combining Planning and Diffusion for Mobility with Unknown Dynamics · Around

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