Leveraging Inter-object Affordances for Efficient Planning in Contact-rich Tasks

Source: arXiv cs.RO·2026-08-27 12:00Publish time unverified

arXiv:2608.25641v1 Announce Type: new Abstract: Traditional task-and-motion planning (TAMP) approaches primarily focus on defining sequences of actions along with the necessary geometric and kinematic constraints to execute long-horizon tasks. However, their applicability in real-world settings is limited, as they typically assume simplified object models that overlook key physical properties critical for the successful execution of contact-rich tasks.