MOSAIC is a multi-directional skill-centric planner that seeds feasible local trajectories with generator skills, links them with connector skills, and uses a statistical oracle and physics simulation to guide the search.
SAPIEN: A simulated part-based interactive environment,
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MOSAIC: Skill-Centric Manipulation Planning with Physics Simulation
MOSAIC is a multi-directional skill-centric planner that seeds feasible local trajectories with generator skills, links them with connector skills, and uses a statistical oracle and physics simulation to guide the search.