Related papers: Decision Making in Joint Push-Grasp Action Space f…

This paper presents a hierarchical framework for planning and control of in-hand manipulation of a rigid object involving grasp changes using fully-actuated multifingered robotic hands. While the framework can be applied to the general…

This report investigates three fundamental search algorithms: Linear Search, Binary Search, and Two Pointer Search. Linear Search checks each element sequentially, Binary Search divides the search space in half, and Two Pointer Search uses…

Skilled robotic manipulation benefits from complex synergies between non-prehensile (e.g. pushing) and prehensile (e.g. grasping) actions: pushing can help rearrange cluttered objects to make space for arms and fingers; likewise, grasping…

Catching high-speed targets in the flight is a complex and typical highly dynamic task. In this paper, we propose Catch Planner, a planning-with-decision scheme for catching. For sequential decision making, we propose a policy search method…

Picking a specific object from clutter is an essential component of many manipulation tasks. Partial observations often require the robot to collect additional views of the scene before attempting a grasp. This paper proposes a closed-loop…

In logistics warehouse, since many objects are randomly stacked on shelves, it becomes difficult for a robot to safely extract one of the objects without other objects falling from the shelf. In previous works, a robot needed to extract the…

Tidy-up tasks by service robots in home environments are challenging in robotics applications because they involve various interactions with the environment. In particular, robots are required not only to grasp, move, and release various…

In this work, we present an approach to planning for humanoid mobility. Humanoid mobility is a challenging problem, as the configuration space for a humanoid robot is intractably large, especially if the robot is capable of performing many…

In this work, we present a grasp planner which integrates two sources of information to generate robust grasps for a robotic hand. First, the topological information of the object model is incorporated by building the mean curvature…

We present a human-guided planner for non-prehensile manipulation in clutter. Most recent approaches to manipulation in clutter employs randomized planning, however, the problem remains a challenging one where the planning times are still…

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…

Both goal-agnostic and goal-oriented tasks have practical value for robotic grasping: goal-agnostic tasks target all objects in the workspace, while goal-oriented tasks aim at grasping pre-assigned goal objects. However, most current…

We propose a novel method for multi-objective motion planning problems by leveraging the paradigm of lexicographic optimization and applying it for the first time to graph search over probabilistic roadmaps. The competing resources of…

While modern policy optimization methods can do complex manipulation from sensory data, they struggle on problems with extended time horizons and multiple sub-goals. On the other hand, task and motion planning (TAMP) methods scale to long…

Autonomous navigation often requires the simultaneous optimization of multiple objectives. The most common approach scalarizes these into a single cost function using a weighted sum, but this method is unable to find all possible trade-offs…

Rapid and reliable robot bin picking is a critical challenge in automating warehouses, often measured in picks-per-hour (PPH). We explore increasing PPH using faster motions based on optimizing over a set of candidate grasps. The source of…

Modern lightweight dual-arm robots bring the physical capabilities to quickly take over tasks at typical industrial workplaces designed for workers. In times of mass-customization, low setup times including the instructing/specifying of new…

We investigate the problem of coordinating two robot arms to solve non-monotone tabletop multi-object rearrangement tasks. In a non-monotone rearrangement task, complex object-object dependencies exist that require moving some objects…

This work introduces PokeRRT, a novel motion planning algorithm that demonstrates poking as an effective non-prehensile manipulation skill to enable fast manipulation of objects and increase the size of a robot's reachable workspace. Our…

Grasp planning for multi-fingered hands is computationally expensive due to the joint-contact coupling, surface nonlinearities and high dimensionality, thus is generally not affordable for real-time implementations. Traditional planning…