We present a human-guided planner for non-prehensile manipulation in clutter. Most recent approaches to manipulation in clutter employs randomized planning, however, the problem remains a challenging one where the planning times are still in the order of tens of seconds or minutes, and the success rates are low for difficult instances of the problem. We build on these control-based randomized planning approaches, but we investigate using them in conjunction with human-operator input. We show that with a minimal amount of human input, the low-level planner can solve the problem faster and with higher success rates.

中文翻译：

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非抓握操作的人类引导规划器

我们提出了一种人工引导的规划器，用于在杂乱中进行非抓握操作。最新的杂波操作方法采用随机规划，然而，该问题仍然是一个具有挑战性的问题，其中规划时间仍然在几十秒或几分钟的数量级，并且问题的困难实例的成功率很低。我们建立在这些基于控制的随机规划方法的基础上，但我们研究将它们与人工操作员输入结合使用。我们表明，通过最少的人工输入，低级规划器可以更快地解决问题并获得更高的成功率。