{"paper":{"title":"Prioritized Planning for Target-Oriented Manipulation via Hierarchical Stacking Relationship Prediction","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Chengzhong Ma, Jian Tang, Nanning Zheng, Xingyu Chen, Xuguang Lan, Zewen Wu","submitted_at":"2023-03-14T12:04:16Z","abstract_excerpt":"In scenarios involving the grasping of multiple targets, the learning of stacking relationships between objects is fundamental for robots to execute safely and efficiently. However, current methods lack subdivision for the hierarchy of stacking relationship types. In scenes where objects are mostly stacked in an orderly manner, they are incapable of performing human-like and high-efficient grasping decisions. This paper proposes a perception-planning method to distinguish different stacking types between objects and generate prioritized manipulation order decisions based on given target design"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2303.07828","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2303.07828/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}