Related papers: Rubik Tables and Object Rearrangement
Placing is a necessary skill for a personal robot to have in order to perform tasks such as arranging objects in a disorganized room. The object placements should not only be stable but also be in their semantically preferred placing areas…
We address the problem of visually guided rearrangement planning with many movable objects, i.e., finding a sequence of actions to move a set of objects from an initial arrangement to a desired one, while relying on visual inputs coming…
We consider algorithmic problems motivated by modular robotic reconfiguration in the sliding square model, in which we are given $n$ square-shaped modules in a (labeled or unlabeled) start configuration and need to find a schedule of…
Rearranging objects on a planar surface arises in a variety of robotic applications, such as product packaging. Using two arms can improve efficiency but introduces new computational challenges. This paper studies the structure of dual-arm…
Effectively performing object rearrangement is an essential skill for mobile manipulators, e.g., setting up a dinner table or organizing a desk. A key challenge in such problems is deciding an appropriate manipulation order for objects to…
The pebble-motion on graphs is a subcategory of multi-agent pathfinding problems dealing with moving multiple pebble-like objects from a node to a node in a graph with a constraint that only one pebble can occupy one node at a given time.…
Nonprehensile actions such as pushing are crucial for addressing multi-object rearrangement problems. Many traditional methods generate robot-centric actions, which differ from intuitive human strategies and are typically inefficient. To…
We focus on multi-object rearrangement planning in densely cluttered environments using a car-like robot pusher. The combination of kinematic, geometric and physics constraints underlying this domain results in challenging nonmonotone…
Stacking is an important process within logistics. Some notable examples of items to be stacked are steel bars or steel plates in a steel yard or containers in a container terminal or on a ship. We say that two items are conflicting if…
We consider the problem of reorienting a rigid object with arbitrary known shape on a table using a two-finger pinch gripper. Reorienting problem is challenging because of its non-smoothness and high dimensionality. In this work, we focus…
Efficient learning from demonstration for long-horizon tasks remains an open challenge in robotics. While significant effort has been directed toward learning trajectories, a recent resurgence of object-centric approaches has demonstrated…
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…
Shelves are commonly used to store objects in homes, stores, and warehouses. We formulate the problem of Optimal Shelf Arrangement (OSA), where the goal is to optimize the arrangement of objects on a shelf for access time given an access…
Physically rearranging objects is an important capability for embodied agents. Visual room rearrangement evaluates an agent's ability to rearrange objects in a room to a desired goal based solely on visual input. We propose a simple yet…
Programmable arrays of optical traps enable the assembly of configurations of single atoms to perform controlled experiments on quantum many-body systems. Finding the sequence of control operations to transform an arbitrary configuration of…
There has been a significant recent progress in the field of Embodied AI with researchers developing models and algorithms enabling embodied agents to navigate and interact within completely unseen environments. In this paper, we propose a…
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…
How can a stack of identical blocks be arranged to extend beyond the edge of a table as far as possible? We consider a generalization of this classic puzzle to blocks that differ in width and mass. Despite the seemingly simple premise, we…
Warehouses play a central role in industrial logistics, functioning as critical hubs for storing and organizing inventory to support efficient production. Optimizing item allocation within these facilities is essential for reducing…
Physically disentangling entangled objects from each other is a problem encountered in waste segregation or in any task that requires disassembly of structures. Often there are no object models, and, especially with cluttered irregularly…