{"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/pushing-through-clutter-with-movability","title":"Pushing Through Clutter With Movability Awareness of Blocking Obstacles","arxiv_id":"2502.20106","date":"2025-02-27","proceeding":null,"authors":["Joris J. Weeda","Saray Bakker","Gang Chen","Javier Alonso-Mora"],"abstract":"Navigation Among Movable Obstacles (NAMO) poses a challenge for traditional path-planning methods when obstacles block the path, requiring push actions to reach the goal. We propose a framework that enables movability-aware planning to overcome this challenge without relying on explicit obstacle placement. Our framework integrates a global Semantic Visibility Graph and a local Model Predictive Path Integral (SVG-MPPI) approach to efficiently sample rollouts, taking into account the continuous range of obstacle movability. A physics engine is adopted to simulate the interaction result of the rollouts with the environment, and generate trajectories that minimize contact force. In qualitative and quantitative experiments, SVG-MPPI outperforms the existing paradigm that uses only binary movability for planning, achieving higher success rates with reduced cumulative contact forces. Our code is available at: https://github.com/tud-amr/SVG-MPPI","url_abs":"https://arxiv.org/abs/2502.20106v1","url_pdf":"https://arxiv.org/pdf/2502.20106v1.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":"pushing-through-clutter-with-movability","repo_url":"https://github.com/tud-amr/svg-mppi","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}