Related papers: Occlusion-Aware Search for Object Retrieval in Clu…
Object search -- the problem of finding a target object in a cluttered scene -- is essential to solve for many robotics applications in warehouse and household environments. However, cluttered environments entail that objects often occlude…
This paper presents planning algorithms for a robotic manipulator with a fixed base in order to grasp a target object in cluttered environments. We consider a configuration of objects in a confined space with a high density so no…
Recent work in robotic manipulation focuses on object retrieval in cluttered spaces under occlusion. Nevertheless, the majority of efforts lack an analysis of conditions for the completeness of the approaches or the methods apply only when…
When searching for objects in cluttered environments, it is often necessary to perform complex interactions in order to move occluding objects out of the way and fully reveal the object of interest and make it graspable. Due to the…
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…
Reasoning about potential occlusions is essential for robots to efficiently predict whether an object exists in an environment. Though existing work shows that a robot with active perception can achieve various tasks, it is still unclear if…
Object finding in clutter is a skill that requires perception of the environment and in many cases physical interaction. In robotics, interactive perception defines a set of algorithms that leverage actions to improve the perception of the…
To safely and efficiently extract an object from the clutter, this paper presents a bimanual manipulation planner in which one hand of the robot is used to slide the target object out of the clutter while the other hand is used to support…
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…
We present an algorithm that produces a plan for relocating obstacles in order to grasp a target in clutter by a robotic manipulator without collisions. We consider configurations where objects are densely populated in a constrained and…
Autonomous excavation for hard or compact materials, especially irregular rigid objects, is challenging due to high variance of geometric and physical properties of objects, and large resistive force during excavation. In this paper, we…
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…
Manipulation in clutter requires solving complex sequential decision making problems in an environment rich with physical interactions. The transfer of motion planning solutions from simulation to the real world, in open-loop, suffers from…
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…
We consider the problem of retrieving a target object from a confined space by two robotic manipulators where overhand grasps are not allowed. If other movable obstacles occlude the target, more than one object should be relocated to clear…
Rearrangement planning for object retrieval tasks from confined spaces is a challenging problem, primarily due to the lack of open space for robot motion and limited perception. Several traditional methods exist to solve object retrieval…
In our daily life, cluttered objects are everywhere, from scattered stationery and books cluttering the table to bowls and plates filling the kitchen sink. Retrieving a target object from clutters is an essential while challenging skill for…
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,…
Object rearrangement is a fundamental problem in robotics with various practical applications ranging from managing warehouses to cleaning and organizing home kitchens. While existing research has primarily focused on single-agent…
We focus on the task of language-conditioned grasping in clutter, in which a robot is supposed to grasp the target object based on a language instruction. Previous works separately conduct visual grounding to localize the target object, and…