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HACMan++: Spatially Anchored Motion Primitives for Long-Horizon Robotic Manipulation

HACMan++ targets long-horizon manipulation for six-dimensional object rearrangement, decomposing actions into three parts: selecting a primitive, anchoring a placement point on the point cloud, and continuous parameters, with unified decision-making via a per-point, per-primitive evaluation map. On this basis, the framework achieves closed-loop chaining of pushing, grasping, moving, and placing.

Part of the event: Introduction to the HACMan++ Long-Horizon Manipulation Framework

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