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| Autori principali: | , |
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| Natura: | Preprint |
| Pubblicazione: |
2026
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| Accesso online: | https://arxiv.org/abs/2603.13844 |
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| _version_ | 1866918388064845824 |
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| author | He, Tierui Zhao, Chao |
| author_facet | He, Tierui Zhao, Chao |
| contents | Non-prehensile manipulation is essential for handling thin, large, or otherwise ungraspable objects in unstructured settings. Prior planning and search-based methods often rely on ad-hoc manual designs or generate physically unrealizable motions by ignoring critical gripper properties, while training-based approaches are data-intensive and struggle to generalize to novel, out-of-distribution tasks. We propose a library-driven hierarchical planner (LDHP) that makes executability a first-class design goal: a top-tier contact-state planner proposes object-pose paths using MoveObject primitives, and a bottom-tier grasp planner synthesizes feasible grasp sequences with AdjustGrasp primitives; feasibility is certified by collision checks and quasi-static mechanics, and contact-sensitive segments are recovered via a bounded dichotomy refinement. This gripper-aware decomposition decouples object motion from grasp realizability, yields a task-agnostic pipeline that transfers across manipulation tasks and geometric variations without re-design, and exposes clean hooks for optional learned priors. Real-robot studies on zero-mobility lifting and slot insertion demonstrate consistent execution and robustness to shape and environment changes. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_13844 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | LDHP: Library-Driven Hierarchical Planning for Non-prehensile Dexterous Manipulation He, Tierui Zhao, Chao Robotics Non-prehensile manipulation is essential for handling thin, large, or otherwise ungraspable objects in unstructured settings. Prior planning and search-based methods often rely on ad-hoc manual designs or generate physically unrealizable motions by ignoring critical gripper properties, while training-based approaches are data-intensive and struggle to generalize to novel, out-of-distribution tasks. We propose a library-driven hierarchical planner (LDHP) that makes executability a first-class design goal: a top-tier contact-state planner proposes object-pose paths using MoveObject primitives, and a bottom-tier grasp planner synthesizes feasible grasp sequences with AdjustGrasp primitives; feasibility is certified by collision checks and quasi-static mechanics, and contact-sensitive segments are recovered via a bounded dichotomy refinement. This gripper-aware decomposition decouples object motion from grasp realizability, yields a task-agnostic pipeline that transfers across manipulation tasks and geometric variations without re-design, and exposes clean hooks for optional learned priors. Real-robot studies on zero-mobility lifting and slot insertion demonstrate consistent execution and robustness to shape and environment changes. |
| title | LDHP: Library-Driven Hierarchical Planning for Non-prehensile Dexterous Manipulation |
| topic | Robotics |
| url | https://arxiv.org/abs/2603.13844 |