Push-Placement: A Hybrid Approach Integrating Prehensile and Non-Prehensile Manipulation for Object Rearrangement

• URL: http://arxiv.org/abs/2602.13849v1
• Date: Sat, 14 Feb 2026 18:58:00 GMT
• Title: Push-Placement: A Hybrid Approach Integrating Prehensile and Non-Prehensile Manipulation for Object Rearrangement
• Abstract summary: This paper proposes push-placement, a hybrid action primitive that uses the grasped object to displace obstructing items while being placed.<n>The method is integrated into a physics-in-the-loop Monte Carlo Tree Search planner and evaluated in the PyBullet simulator.
• Score: 2.4140502941897544
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Efficient tabletop rearrangement remains challenging due to collisions and the need for temporary buffering when target poses are obstructed. Prehensile pick-and-place provides precise control but often requires extra moves, whereas non-prehensile pushing can be more efficient but suffers from complex, imprecise dynamics. This paper proposes push-placement, a hybrid action primitive that uses the grasped object to displace obstructing items while being placed, thereby reducing explicit buffering. The method is integrated into a physics-in-the-loop Monte Carlo Tree Search (MCTS) planner and evaluated in the PyBullet simulator. Empirical results show push-placement reduces the manipulator travel cost by up to 11.12% versus a baseline MCTS planner and 8.56% versus dynamic stacking. These findings indicate that hybrid prehensile/non-prehensile action primitives can substantially improve efficiency in long-horizon rearrangement tasks.

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