{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/let-s-handle-it-generalizable-manipulation-of","title":"Let's Handle It: Generalizable Manipulation of Articulated Objects","arxiv_id":"2202.11792","date":"2022-02-23","proceeding":null,"authors":["Zhutian Yang","Aidan Curtis"],"abstract":"In this project we present a framework for building generalizable manipulation controller policies that map from raw input point clouds and segmentation masks to joint velocities. We took a traditional robotics approach, using point cloud processing, end-effector trajectory calculation, inverse kinematics, closed-loop position controllers, and behavior trees. We demonstrate our framework on four manipulation skills on common household objects that comprise the SAPIEN ManiSkill Manipulation challenge.","url_abs":"https://arxiv.org/abs/2202.11792v1","url_pdf":"https://arxiv.org/pdf/2202.11792v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"let-s-handle-it-generalizable-manipulation-of","repo_url":"https://github.com/aidan-curtis/az-manipulator","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"pytorch","reach":{"status":"ok","spdx":"Apache-2.0"}}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}