Extrinsic Manipulation

Extrinsic manipulation focuses on leveraging environmental interactions to achieve robotic manipulation goals beyond the capabilities of simple grippers. Current research emphasizes developing robust methods for planning and executing complex, multi-step manipulation sequences, often involving contact retargeting and regrasping, with a focus on deep learning models for predicting stable object placements and composing short-horizon manipulation primitives. These advancements are significant for improving robotic dexterity and adaptability in diverse environments, with applications ranging from industrial automation to assistive robotics.