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

- Source: Guyuehome
- Published: 2026-11-02T11:16:00.000Z
- RoboHot: https://robohot.news/en/items/hd2p46km45yd2bhola3zh47in
- Original: https://www.guyuehome.com/detail?id=2108138231267618817

## Summary

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.