Abstract:During pick and place tasks, a mobile manipulator performs recurring relative moves within the close proximities of the object of interest and the destination independent of their global poses. These moves are usually critical to the success of the manipulation attempt and hence need to be executed delicately. Considering the critical yet recurring nature of these moves, we let the robot memorize them as state-action sequences and reuse them whenever possible to guide manipulation planning and execution. When … Show more
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