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Transferring multiple objects between bins is a common task for many applications. In robotics, a standard approach is to pick up one object and transfer it at a time. However, grasping and picking up multiple objects and transferring them…
We study the problem of learning a navigation policy for a robot to actively search for an object of interest in an indoor environment solely from its visual inputs. While scene-driven visual navigation has been widely studied, prior…
We focus on the task of goal-oriented grasping, in which a robot is supposed to grasp a pre-assigned goal object in clutter and needs some pre-grasp actions such as pushes to enable stable grasps. However, in this task, the robot gets…
Extracting a known target object from a pile of other objects in a cluttered environment is a challenging robotic manipulation task encountered in many robotic applications. In such conditions, the target object touches or is covered by…
We address multi-robot geometric task-and-motion planning (MR-GTAMP) problems in synchronous, monotone setups. The goal of the MR-GTAMP problem is to move objects with multiple robots to goal regions in the presence of other movable…
Performing object retrieval in real-world workspaces must tackle challenges including \emph{uncertainty} and \emph{clutter}. One option is to apply prehensile operations, which can be time consuming in highly-cluttered scenarios. On the…
Many methods have been developed for planning the motion of robotic arms for picking and placing, ranging from local optimization to global search techniques, which are effective for sparsely placed objects. Dense clutter, however, still…
We present an AND/OR graph-based, integrated multi-robot task and motion planning approach which (i) performs task allocation coordinating the activity of a given number of robots, and (ii) is capable of handling tasks which involve an a…
Robotic-based compact storage and retrieval systems provide high-density storage in distribution center and warehouse applications. In the system, items are stored in bins, and the bins are organized inside a three-dimensional grid. Robots…
We introduce a novel strategy for multi-robot sorting of waste objects using Reinforcement Learning. Our focus lies on finding optimal picking strategies that facilitate an effective coordination of a multi-robot system, subject to…
This paper presents a task and motion planning (TAMP) framework for a robotic manipulator in order to retrieve a target object from clutter. We consider a configuration of objects in a confined space with a high density so no collision-free…
Planning motions to grasp an object in cluttered and uncertain environments is a challenging task, particularly when a collision-free trajectory does not exist and objects obstructing the way are required to be carefully grasped and moved…
The accumulation of litter is increasing in many places and is consequently becoming a problem that must be dealt with. In this paper, we present a manipulator robotic system to collect litter in outdoor environments. This system has three…
In this work, we focus on addressing the long-horizon manipulation tasks in densely cluttered scenes. Such tasks require policies to effectively manage severe occlusions among objects and continually produce actions based on visual…
When robots retrieve specific objects from cluttered scenes, such as home and warehouse environments, the target objects are often partially occluded or completely hidden. Robots are thus required to search, identify a target object, and…
Efficient and safe retrieval of stacked objects in warehouse environments is a significant challenge due to complex spatial dependencies and structural inter-dependencies. Traditional vision-based methods excel at object localization but…
In response to the growing challenges of manual labor and efficiency in warehouse operations, Amazon has embarked on a significant transformation by incorporating robotics to assist with various tasks. While a substantial number of robots…
Humans, in comparison to robots, are remarkably adept at reaching for objects in cluttered environments. The best existing robot planners are based on random sampling of configuration space -- which becomes excessively high-dimensional with…
Wire harnesses are essential connecting components in manufacturing industry but are challenging to be automated in industrial tasks such as bin picking. They are long, flexible and tend to get entangled when randomly placed in a bin. This…
Non-prehensile pushing actions have the potential to singulate a target object from its surrounding clutter in order to facilitate the robotic grasping of the target. To address this problem we utilize a heuristic rule that moves the target…