Related papers: Efficient Obstacle Rearrangement for Object Manipu…
In this paper, we present a novel approach to efficiently generate collision-free optimal trajectories for multiple non-holonomic mobile robots in obstacle-rich environments. Our approach first employs a graph-based multi-agent path planner…
Most object manipulation strategies for robots are based on the assumption that the object is rigid (i.e., with fixed geometry) and the goal's details have been fully specified (e.g., the exact target pose). However, there are many tasks…
This paper studies the underlying combinatorial structure of a class of object rearrangement problems, which appear frequently in applications. The problems involve multiple, similar-geometry objects placed on a flat, horizontal surface,…
We present an algorithm for obtaining an optimal control policy for hybrid dynamical systems in cluttered environments. To the best of our knowledge, this is the first attempt to have a locally optimal solution for this specific problem…
In this paper, a novel robotic grasping system is established to automatically pick up objects in cluttered scenes. A composite robotic hand composed of a suction cup and a gripper is designed for grasping the object stably. The suction cup…
This paper presents a robotic pick-and-place system that is capable of grasping and recognizing both known and novel objects in cluttered environments. The key new feature of the system is that it handles a wide range of object categories…
Active sensing and planning in unknown, cluttered environments is an open challenge for robots intending to provide home service, search and rescue, narrow-passage inspection, and medical assistance. Although many active sensing methods…
Human environments contain numerous objects configured in a variety of arrangements. Our goal is to enable robots to repose previously unseen objects according to learned semantic relationships in novel environments. We break this problem…
The prospect of assistive robots aiding in object organization has always been compelling. In an image-goal setting, the robot rearranges the current scene to match the single image captured from the goal scene. The key to an image-goal…
In [1,2] a new class of intelligent controllers that can semantically embed an agent in a spatial context constraining its behavior in a goal-oriented manner was suggested. A controller of such a class can guide an agent in a stationary…
Manipulating deformable objects arises in daily life and numerous applications. Despite phenomenal advances in industrial robotics, manipulation of deformable objects remains mostly a manual task. This is because of the high number of…
In many applications, including logistics and manufacturing, robot manipulators operate in semi-structured environments alongside humans or other robots. These environments are largely static, but they may contain some movable obstacles…
This paper addresses the motion control problem for mobile robots in obstacle-cluttered environments. The mobile robot has partial environment information only, and aims to move from an initial position to a target position without…
We consider a large-scale multi-robot path planning problem in a cluttered environment. Our approach achieves real-time replanning by dividing the workspace into cells and utilizing a hierarchical planner. Specifically, we propose novel…
Humans are remarkable at navigating and moving through dynamic and complex spaces, such as crowded streets. For robots to do the same, it is crucial that they are endowed with highly reactive obstacle avoidance robust to partial and poor…
Socially-aware robotic navigation is essential in environments where humans and robots coexist, ensuring both safety and comfort. However, most existing approaches have been primarily developed for mobile robots, leaving a significant gap…
Robotic grasping in cluttered environments remains a significant challenge due to occlusions and complex object arrangements. We have developed ThinkGrasp, a plug-and-play vision-language grasping system that makes use of GPT-4o's advanced…
We are interested in pick-and-place style robot manipulation tasks in cluttered and confined 3D workspaces among movable objects that may be rearranged by the robot and may slide, tilt, lean or topple. A recently proposed algorithm, M4M,…
We present optimal motion planning algorithms which can be used in designing practical systems controlling objects moving in Euclidean space without collisions. Our algorithms are optimal in a very concrete sense, namely, they have the…
Autonomous excavation for hard or compact materials, especially irregular rigid objects, is challenging due to high variance of geometric and physical properties of objects, and large resistive force during excavation. In this paper, we…