Sequential Manipulation Planning

Sequential manipulation planning focuses on enabling robots to perform complex multi-step tasks involving object manipulation, requiring coordinated movements and interactions with the environment. Current research emphasizes integrating diverse techniques, such as large language models for human-in-the-loop planning, virtual kinematic chains for whole-body control of mobile manipulators, and graph-based representations for efficient task planning and subgoal decomposition. These advancements aim to improve the robustness, adaptability, and ease of programming for robots executing intricate sequential manipulation tasks, with applications ranging from flexible manufacturing to complex assembly operations.