Push-Placement: A Hybrid Approach Integrating Prehensile and Non-Prehensile Manipulation for Object Rearrangement
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arXiv
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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2026
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| _version_ | 1866918339472785408 |
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| author | Sadeghinejad, Majid Barghi, Arman Hosseini, Hamed Masouleh, Mehdi Tale Kalhor, Ahmad |
| author_facet | Sadeghinejad, Majid Barghi, Arman Hosseini, Hamed Masouleh, Mehdi Tale Kalhor, Ahmad |
| contents | Efficient tabletop rearrangement remains challenging due to collisions and the need for temporary buffering when target poses are obstructed. Prehensile pick-and-place provides precise control but often requires extra moves, whereas non-prehensile pushing can be more efficient but suffers from complex, imprecise dynamics. This paper proposes push-placement, a hybrid action primitive that uses the grasped object to displace obstructing items while being placed, thereby reducing explicit buffering. The method is integrated into a physics-in-the-loop Monte Carlo Tree Search (MCTS) planner and evaluated in the PyBullet simulator. Empirical results show push-placement reduces the manipulator travel cost by up to 11.12% versus a baseline MCTS planner and 8.56% versus dynamic stacking. These findings indicate that hybrid prehensile/non-prehensile action primitives can substantially improve efficiency in long-horizon rearrangement tasks. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_13849 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Push-Placement: A Hybrid Approach Integrating Prehensile and Non-Prehensile Manipulation for Object Rearrangement Sadeghinejad, Majid Barghi, Arman Hosseini, Hamed Masouleh, Mehdi Tale Kalhor, Ahmad Robotics Efficient tabletop rearrangement remains challenging due to collisions and the need for temporary buffering when target poses are obstructed. Prehensile pick-and-place provides precise control but often requires extra moves, whereas non-prehensile pushing can be more efficient but suffers from complex, imprecise dynamics. This paper proposes push-placement, a hybrid action primitive that uses the grasped object to displace obstructing items while being placed, thereby reducing explicit buffering. The method is integrated into a physics-in-the-loop Monte Carlo Tree Search (MCTS) planner and evaluated in the PyBullet simulator. Empirical results show push-placement reduces the manipulator travel cost by up to 11.12% versus a baseline MCTS planner and 8.56% versus dynamic stacking. These findings indicate that hybrid prehensile/non-prehensile action primitives can substantially improve efficiency in long-horizon rearrangement tasks. |
| title | Push-Placement: A Hybrid Approach Integrating Prehensile and Non-Prehensile Manipulation for Object Rearrangement |
| topic | Robotics |
| url | https://arxiv.org/abs/2602.13849 |