Chaining Visuomotor Skills for Constrained Manipulation
Through Perceptual Manipulation

Anonymous Authors

Under review

Placing milk on a cabinet. The frozen policy's default grasp leads to a placement collision; a transformed observation induces a shifted grasp and a feasible placement. A bilevel planner searches transformations in simulation, and the grasp offsets it reaches are far more diverse than those from resampling the policy.
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Abstract

Abstract goes here.

Method

Method summary goes here.

Method overview: a task is transferred real-to-sim, a symbolic planner produces a skill skeleton whose parameters include a perceptual transformation, and low-level planning samples those parameters by rolling out the policy on transformed observations.
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Tasks

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Task one.
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Task two.
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Task three.
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Task four.

Results

Results summary goes here.

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Videos

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Rollout one.
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Rollout two.
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Rollout three.

BibTeX

@inproceedings{anonymous,
  title     = {Chaining Visuomotor Skills for Constrained Manipulation
               Through Perceptual Manipulation},
  author    = {Anonymous},
  booktitle = {},
  year      = {}
}