Related papers: Robotic Waste Sorter with Agile Manipulation and Q…

We examine an important combinatorial challenge in clearing clutter using a mobile robot equipped with a manipulator, seeking to compute an optimal object removal sequence for minimizing the task completion time, assuming that each object…

To be useful in everyday environments, robots must be able to observe and learn about objects. Recent datasets enable progress for classifying data into known object categories; however, it is unclear how to collect reliable object data…

Non-prehensile manipulation methods usually use a simple end effector, e.g., a single rod, to manipulate the object. Compared to the grasping method, such an end effector is compact and flexible, and hence it can perform tasks in a…

This paper presents a robotic pick-and-place system that is capable of grasping and recognizing both known and novel objects in cluttered environments. The key new feature of the system is that it handles a wide range of object categories…

Sorting a set of items is a task that can be useful by itself or as a building block for more complex operations. The more sophisticated and fast sorting algorithms become asymptotically, the less efficient they are for small sets of items…

This paper presents the perception system of a new professional cleaning robot for large public places. The proposed system is based on multiple sensors including 3D and 2D lidar, two RGB-D cameras and a stereo camera. The two lidars…

This work studies rearrangement problems involving the sorting of robots or objects in stack-like containers, which can be accessed only from one side. Two scenarios are considered: one where every robot or object needs to reach a…

We describe an efficient and fault-tolerant algorithm for distributed cyclic garbage collection. The algorithm imposes few requirements on the local machines and allows for flexibility in the choice of local collector and distributed…

This paper addresses the problem of robotic cutting during disassembly of products for materials separation and recycling. Waste handling applications differ from milling in manufacturing processes, as they engender considerable variety and…

In physical human-robot collaboration (pHRC) settings, humans and robots collaborate directly in shared environments. Robots must analyze interactions with objects to ensure safety and facilitate meaningful workflows. One critical aspect is…

Efficient waste management and recycling heavily rely on garbage exploration and identification. In this study, we propose GSA2Seg (Garbage Segmentation and Attribute Analysis), a novel visual approach that utilizes quadruped robotic dogs…

Autonomous robotic manipulation in clutter is challenging. A large variety of objects must be perceived in complex scenes, where they are partially occluded and embedded among many distractors, often in restricted spaces. To tackle these…

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…

We explore the fundamental problem of sorting through the lens of learning-augmented algorithms, where algorithms can leverage possibly erroneous predictions to improve their efficiency. We consider two different settings: In the first…

We present an algorithm determining where to relocate objects inside a cluttered and confined space while rearranging objects to retrieve a target object. Although methods that decide what to remove have been proposed, planning for the…

Object detection is a task that performs position identification and label classification of objects in images or videos. The information obtained through this process plays an essential role in various tasks in the field of computer…

Autonomous mobile manipulation robots that can collect trolleys are widely used to liberate human resources and fight epidemics. Most prior robotic trolley collection solutions only detect trolleys with 2D poses or are merely based on…

For robots to truly collaborate and assist humans, they must understand not only logic and instructions, but also the subtle emotions, aesthetics, and feelings that define our humanity. Human art and aesthetics are among the most elusive…

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…

Collaborative robots are increasingly present in industry to support human activities. However, to make the human-robot collaborative process more effective, there are several challenges to be addressed. Collaborative robotic systems need…