Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Object Placement Planning and Optimization for Robot Manipulators   We address the problem of motion planning for a robotic manipulator with the
task to place a grasped object in a cluttered environment. In this task, we
need to locate a collision-free pose for the object that a) facilitates the
stable placement of the object, b) is reachable by the robot manipulator and c)
optimizes a user-given placement objective. Because of the placement objective,
this problem is more challenging than classical motion planning where the
target pose is defined from the start. To solve this task, we propose an
anytime algorithm that integrates sampling-based motion planning for the robot
manipulator with a novel hierarchical search for suitable placement poses. We
evaluate our approach on a dual-arm robot for two different placement
objectives, and observe its effectiveness even in challenging scenarios.

22
The categories of this paper are: chao-dyn
27
The categories of this paper are: comp-gas
20
The categories of this paper are: acc-phys
26
The categories of this paper are: bayes-an
2
The categories of this paper are: math
32
The categories of this paper are: atom-ph
0
The categories of this paper are: hep-ph
36
The categories of this paper are: cmp-lg
9
The categories of this paper are: nlin
35
The categories of this paper are: mtrl-th
30
The categories of this paper are: q-alg
33
The categories of this paper are: plasm-ph
16
The categories of this paper are: stat
18
The categories of this paper are: econ
19
The categories of this paper are: eess
6
The categories of this paper are: astro-ph