# Pushing Through Clutter With Movability Awareness of Blocking Obstacles

arXiv: https://arxiv.org/abs/2502.20106 · HTML: https://mlsanity.com/paper/2502.20106/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 27 Feb 2025.

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

- [A Horizon-slicing Approach to Minimum Obstacle Displacement Planning for Robot Navigation](https://mlsanity.com/paper/2609.22974/) (2026)

## Abstract (arXiv)

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