While solving complex manipulation tasks, manipulation policies often need to learn a set of
diverse skills to accomplish these tasks. The set of skills is often quite multimodal-each one …

Manipulating a target object using non-prehensile actions presents a complex problem that
requires addressing multiple constraints, such as finding collision-free trajectories, modeling …

Path planning for autonomous systems is a fundamental problem in robotics, especially
when the task assigned to a robot is heavily dependent on the motion of one or more of its …