A grasp-signature map of object placements guides a KOMO-based planner with guessed regrasp sequences and placement constraints, improving success on long-horizon 2D regrasp problems.
Logic-geometric programming: An optimization-based ap- proach to combined task and motion planning,
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Regrasp Maps for Sequential Manipulation Planning
A grasp-signature map of object placements guides a KOMO-based planner with guessed regrasp sequences and placement constraints, improving success on long-horizon 2D regrasp problems.