We observe that the robot comes up with diverse strategies in
different task scenarios.
When the target object is surrounded by obstacles, the
robot opens a path for the target object towards the goal.
In presence of a tile of objects between the target and
the goal, the robot pushes the target around.
When there is a small gap, the robot squeezes the
target object through the gap.
Move Away Obstacles:
The robot clears obstacles one by one along the
way of the target object.
Push Target Through Obstacles:
When the robot cannot directly reach
the target object, it squeezes the target object by pushing obstacles.
Various layouts and objects for in each task in
simulation and the real world.