Related papers: Decision Making in Joint Push-Grasp Action Space f…
Nowadays, a number of grasping algorithms have been proposed, that can predict a candidate of grasp poses, even for unseen objects. This enables a robotic manipulator to pick-and-place such objects. However, some of the predicted grasp…
We propose a human-operator guided planning approach to pushing-based manipulation in clutter. Most recent approaches to manipulation in clutter employs randomized planning. The problem, however, remains a challenging one where the planning…
We consider robotic pick-and-place of partially visible, novel objects, where goal placements are non-trivial, e.g., tightly packed into a bin. One approach is (a) use object instance segmentation and shape completion to model the objects…
When operating in unstructured environments such as warehouses, homes, and retail centers, robots are frequently required to interactively search for and retrieve specific objects from cluttered bins, shelves, or tables. Mechanical Search…
This paper develops a planner to find an optimal assembly sequence to assemble several objects. The input to the planner is the mesh models of the objects, the relative poses between the objects in the assembly, and the final pose of the…
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…
This paper addresses non-prehensile rearrangement planning problems where a robot is tasked to rearrange objects among obstacles on a planar surface. We present an efficient planning algorithm that is designed to impose few assumptions on…
Robot pick and place systems have traditionally decoupled grasp, placement, and motion planning to build sequential optimization pipelines with the assumption that the individual components will be able to work together. However, this…
Pushing is a simple yet effective skill for robots to interact with and further change the environment. Related work has been mostly focused on utilizing it as a non-prehensile manipulation primitive for a robotic manipulator. However, it…
Grasp planning is an important task for robotic manipulation. Though it is a richly studied area, a standalone, fast, and differentiable grasp planner that can work with robot grippers of different DOFs has not been reported. In this work,…
In scenarios involving the grasping of multiple targets, the learning of stacking relationships between objects is fundamental for robots to execute safely and efficiently. However, current methods lack subdivision for the hierarchy of…
As one of the simplest non-prehensile manipulation skills, pushing has been widely studied as an effective means to rearrange objects. Existing approaches, however, typically rely on multi-step push plans composed of pre-defined pushing…
This paper presents a mid-level planning system for object reorientation. It includes a grasp planner, a placement planner, and a regrasp sequence solver. Given the initial and goal poses of an object, the mid-level planning system finds a…
This paper proposes a combined task and motion planner for a dual-arm robot to use a suction cup tool. The planner consists of three sub-planners -- A suction pose sub-planner and two regrasp and motion sub-planners. The suction pose…
Autonomous multi-finger grasping is a fundamental capability in robotic manipulation. Optimization-based approaches show strong performance, but tend to be sensitive to initialization and are potentially time-consuming. As an alternative,…
When allowing concurrent actions in Markov Decision Processes, whose state and action spaces grow exponentially in the number of objects, computing a policy becomes highly inefficient, as it requires enumerating the joint of the two spaces.…
We present a visually grounded hierarchical planning algorithm for long-horizon manipulation tasks. Our algorithm offers a joint framework of neuro-symbolic task planning and low-level motion generation conditioned on the specified goal. At…
This thesis is concerned with deriving planning algorithms for robot manipulators. Manipulation has two effects, the robot has a physical effect on the object, and it also acquires information about the object. This thesis presents…
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…
We propose an approach to find low-makespan solutions to multi-robot multi-task planning problems in environments where robots block each other from completing tasks simultaneously. We introduce a formulation of the problem that allows for…