Preprint
Sep 2026
Receding-Horizon Pushing with Composable Object-Centric Policies
Non-prehensile manipulation is practical for relocating large, heavy, or geometrically ungraspable objects. Yet, long-horizon pushing of arbitrarily-shaped 3D objects couples three problems: 1) where to push the object so as to approach the target pose, 2) whether each push is stable and reachable, 3) whether subsequen...
Zhi-Yi Yuan, Tian-Run Hu, An-Xing Xiao et al.
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