Related papers: Object Placement on Cluttered Surfaces: A Nested L…
We introduce a planner designed to guide robot manipulators in stably placing objects within intricate scenes. Our proposed method reverses the traditional approach to object placement: our planner selects contact points first and then…
The ability to place objects in the environment is an important skill for a personal robot. An object should not only be placed stably, but should also be placed in its preferred location/orientation. For instance, a plate is preferred to…
In this paper, we examine the problem of rearranging many objects on a tabletop in a cluttered setting using overhand grasps. Efficient solutions for the problem, which capture a common task that we solve on a daily basis, are essential in…
Humans universally dislike the task of cleaning up a messy room. If machines were to help us with this task, they must understand human criteria for regular arrangements, such as several types of symmetry, co-linearity or co-circularity,…
We examine an important combinatorial challenge in clearing clutter using a mobile robot equipped with a manipulator, seeking to compute an optimal object removal sequence for minimizing the task completion time, assuming that each object…
This thesis presents novel algorithms to advance robotic object rearrangement, a critical task for autonomous systems in applications like warehouse automation and household assistance. Addressing challenges of high-dimensional planning,…
To determine the 3D orientation and 3D location of objects in the surroundings of a camera mounted on a robot or mobile device, we developed two powerful algorithms in object detection and temporal tracking that are combined seamlessly for…
This paper introduces a novel approach for the grasping and precise placement of various known rigid objects using multiple grippers within highly cluttered scenes. Using a single depth image of the scene, our method estimates multiple 6D…
Perception of the visually disjoint surfaces of our cluttered world as whole objects, physically distinct from those overlapping them, is a cognitive phenomenon called objectness that forms the basis of our visual perception. Shared by all…
This work proposes a process for efficiently searching over combinations of individual object 6D pose hypotheses in cluttered scenes, especially in cases involving occlusions and objects resting on each other. The initial set of candidate…
In this paper, a quick and efficient method is presented for grasping unknown objects in clutter. The grasping method relies on real-time superquadric (SQ) representation of partial view objects and incomplete object modelling, well suited…
Dense clutter removal for target object retrieval presents a challenging problem, especially when targets are embedded deep within densely-packed configurations. It requires foresight to minimize overall changes to the clutter configuration…
We present a probabilistic approach for building, on the fly, 3-D models of unknown objects while being manipulated by a robot. We specifically consider manipulation tasks in piles of clutter that contain previously unseen objects. Most…
Retrieving target objects from unknown, confined spaces remains a challenging task that requires integrated, task-driven active sensing and rearrangement planning. Previous approaches have independently addressed active sensing and…
Manipulation in cluttered environments is challenging due to spatial dependencies among objects, where an improper manipulation order can cause collisions or blocked access. Existing approaches often overlook these spatial relationships,…
This work studies rearrangement problems involving the sorting of robots or objects in stack-like containers, which can be accessed only from one side. Two scenarios are considered: one where every robot or object needs to reach a…
Retrieving objects buried beneath multiple objects is not only challenging but also time-consuming. Performing manipulation in such environments presents significant difficulty due to complex contact relationships. Existing methods…
We investigate the task and motion planning problem of clearing clutter from a workspace with limited ingress/egress access for multiple robots. We call the problem multi-robot clutter removal (MRCR). Targeting practical applications where…
Animating human-scene interactions such as pick-and-place tasks in cluttered, complex layouts is a challenging task, with objects of a wide variation of geometries and articulation under scenarios with various obstacles. The main difficulty…
Touch-based object localization is an important component of autonomous robotic systems that are to perform dexterous tasks in real-world environments. When the objects to locate are placed within clutters, this touch-based procedure tends…