Related papers: Rubik Tables and Object Rearrangement
Many robots are not equipped with a manipulator and many objects are not suitable for prehensile manipulation (such as large boxes and cylinders). In these cases, pushing is a simple yet effective non-prehensile skill for robots to interact…
We give new approximation algorithms for the submodular joint replenishment problem and the inventory routing problem, using an iterative rounding approach. In both problems, we are given a set of $N$ items and a discrete time horizon of…
Reorienting objects by using supports is a practical yet challenging manipulation task. Owing to the intricate geometry of objects and the constrained feasible motions of the robot, multiple manipulation steps are required for object…
We consider a variant of the classical Bin Packing Problem, called Fully Dynamic Bin Packing. In this variant, items of a size in $(0,1]$ must be packed in bins of unit size. In each time step, an item either arrives or departs from the…
In traditional on-line problems, such as scheduling, requests arrive over time, demanding available resources. As each request arrives, some resources may have to be irrevocably committed to servicing that request. In many situations,…
Designing the topology of three-dimensional structures is a challenging problem due to its memory and time consumption. In this paper, we present a robust and efficient algorithm for solving large-scale 3D topology optimization problems.…
We present an optimization-based framework for rearranging indoor furniture to accommodate human-robot co-activities better. The rearrangement aims to afford sufficient accessible space for robot activities without compromising everyday…
Efficient cargo packing and transport unit stacking play a vital role in enhancing logistics efficiency and reducing costs in the field of logistics. This article focuses on the challenging problem of loading transport units onto pallets,…
This work focuses on the dual-arm object rearrangement problem abstracted from a realistic industrial scenario of Cartesian robots. The goal of this problem is to transfer all the objects from sources to targets with the minimum total…
The stable allocation problem is a many-to-many generalization of the well-known stable marriage problem, where we seek a bipartite assignment between, say, jobs (of varying sizes) and machines (of varying capacities) that is "stable" based…
We consider the problem of grasping in clutter. While there have been motion planners developed to address this problem in recent years, these planners are mostly tailored for open-loop execution. Open-loop execution in this domain,…
The ability to manipulate objects in a desired configurations is a fundamental requirement for robots to complete various practical applications. While certain goals can be achieved by picking and placing the objects of interest directly,…
This work proposes a robot task planning framework for retrieving a target object in a confined workspace among multiple stacked objects that obstruct the target. The robot can use prehensile picking and in-workspace placing actions. The…
In practice, many types of manipulation actions (e.g., pick-n-place and push) are needed to accomplish real-world manipulation tasks. Yet, limited research exists that explores the synergistic integration of different manipulation actions…
Our work is motivated by the challenges presented in preparing arrays of atoms for use in quantum simulation. The recently-developed process of loading atoms into traps results in approximately half of the traps being filled. To consolidate…
We present a framework for solving long-horizon planning problems involving manipulation of rigid objects that operates directly from a point-cloud observation, i.e. without prior object models. Our method plans in the space of object…
We study the two-dimensional hierarchical rectangle packing problem, motivated by applications in analog integrated circuit layout, facility layout, and logistics. Unlike classical strip or bin packing, the dimensions of the container are…
An important area of combinatorial optimization is the study of packing and covering problems, such as Bin Packing, Multiple Knapsack, and Bin Covering. Those problems have been studied extensively from the viewpoint of approximation…
We consider several extensions of the fractional bin packing problem, a relaxation of the traditional bin packing problem where the objects may be split across multiple bins. In these extensions, we introduce load-balancing constraints…
Robust optimization(RO) is an important tool for handling optimization problem with uncertainty. The main objective of RO is to solve optimization problems due to uncertainty associated with constraints satisfying all realizations of…