Manipulation planning for empirical backprojections

A method of computing manipulation plans is introduced. The empirical backprojection method uses observed state transitions to derive predictions of action effects and links these predictions to form manipulation plans. The data-intensive approach is in contrast to manipulation planning approaches that uses analysis of task mechanics to generate predictions. The empirical backprojection method is described, and three example tasks are used to illustrate the method. The assumptions underlying the method are then compared to the assumptions required by previously published analytical techniques