Receding-Horizon Pushing with Composable Object-Centric Policies

arXiv:2609.23439 · cs.RO · Submitted 2026-09-20 · Read on arXiv

cs.RO

Submitted: 2026-09-20

Updated: 2026-09-29

Terminology

• Ablation — 7× in this paper · explained in 1 episode
• Ablation Studies — 3× in this paper · explained in 1 episode
• Conference on Computer Vision and Pattern Recognition — 3× in this paper
• Decoupling — 3× in this paper · explained in 2 episodes
• Generalization — 3× in this paper · explained in 13 episodes
• International Conference on Robotics and Automation — 3× in this paper
• Reinforcement Learning — 3× in this paper · explained in 4 episodes
• Actor — 2× in this paper · explained in 3 episodes
• Benchmark — 2× in this paper · explained in 2 episodes
• Point Clouds — 2× in this paper · explained in 2 episodes
• Ablation study — 1× in this paper · explained in 1 episode
• Embodied AI — 1× in this paper · explained in 2 episodes
• Feature Extraction — 1× in this paper · explained in 2 episodes
• Hierarchical Framework — 1× in this paper · explained in 2 episodes
• Q-learning — 1× in this paper · explained in 3 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes
• Transformer — 1× in this paper · explained in 2 episodes
• Verification — 1× in this paper · explained in 2 episodes
• World Model — 1× in this paper · explained in 7 episodes
• Zero-Shot Generalization — 1× in this paper · explained in 5 episodes

Sources

• Push Anything: Single- and Multi-Object Pushing From First Sight with Contact-Implicit MPC
• ShapeNet: An Information-Rich 3D Model Repository
• SAM 2: Segment Anything in Images and Videos
• SAM 3D: 3Dfy Anything in Images
• Motions in Microseconds via Vectorized Sampling-Based Planning
• Which Reconstruction Model Should a Robot Use? Routing Image-to-3D Models for Cost-Aware Robotic Manipulation
• Rational Inverse Reasoning: Few-Shot Imitation by Inferring Intent through Planning
• TiPToP: A Modular Open-Vocabulary Robot Manipulation System That Plans

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