We observe that the robot comes up with diverse strategies in
different task scenarios.
When the target object is surrounded by obstacle objects, the robot opens a path for the target object towards the goal without entering the restricted area (red tiles).
In presence of a pile of obstacle objects between the target and the goal, the robot pushes the target around.
When there is a small gap between a bunch of objects, the robot squeezes the target object through the gap.
Move Away Obstacles:
When pushing the target object across the bridge (grey tiles), the robot clears obstacle objects one by one along the way.
Push Target Through Obstacles:
When the robot cannot directly reach the target object, it squeezes the target object by pushing obstacle objects.
Clean up a workspace:
Clean up a workspace: The robot moves objects out of a designated workspace (blue tiles).
Various layouts and objects for in each task in
simulation and the real world.