Author

Justus H. Piater

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Preprint Aug 2026

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

This work proposes a method that leverages a TAMP approach, defining object-centric abstractions of execution constraints, called Unified TAMP (U-TAMP), to execute robotic tasks involving interactions among objects with heterogeneous shapes, sizes, and materials.

Pouya P. Niaz, Justus H. Piater, Alejandro Agostini · 0 citations