# Let's Handle It: Generalizable Manipulation of Articulated Objects

arXiv: https://arxiv.org/abs/2202.11792 · HTML: https://mlsanity.com/paper/2202.11792/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 23 Feb 2022.

## Built on by (most cited first, 1 of 1)

- [Adaptive Manipulation using Behavior Trees](https://mlsanity.com/paper/2406.14634/) (2024)

## Abstract (arXiv)

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.