Related papers: Efficient Object Manipulation to an Arbitrary Goal…
Learning generalizable skills in robotic manipulation has long been challenging due to real-world sized observation and action spaces. One method for addressing this problem is attention focus -- the robot learns where to attend its sensors…
In this paper, we introduce a method to deal with the problem of robot local path planning among pushable objects -- an open problem in robotics. In particular, we achieve that by training multiple agents simultaneously in a physics-based…
This paper proposes a preliminary work on a Conditional Task and Motion Planning algorithm able to find a plan that minimizes robot efforts while solving assigned tasks. Unlike most of the existing approaches that replan a path only when it…
Path planning in the multi-robot system refers to calculating a set of actions for each robot, which will move each robot to its goal without conflicting with other robots. Lately, the research topic has received significant attention for…
Task planning for mobile robots often assumes full environment knowledge and so popular approaches, like planning via the PDDL, cannot plan when the locations of task-critical objects are unknown. Recent learning-driven object search…
In this paper we present a method for automatically planning optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition system. 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…
We consider the configuration formation problem in modular robotic systems where a set of singleton modules that are spatially distributed in an environment are required to assume appropriate positions so that they can configure into a new,…
Object reconstruction and inspection tasks play a crucial role in various robotics applications. Identifying paths that reveal the most unknown areas of the object is paramount in this context, as it directly affects reconstruction…
We consider a sequential task and motion planning (tamp) setting in which a robot is assigned continuous-space rearrangement-style tasks one-at-a-time in an environment that persists between each. Lacking advance knowledge of future tasks,…
Consider the problem of planning collision-free motion of $n$ objects in the plane movable through contact with a robot that can autonomously translate in the plane and that can move a maximum of $m \leq n$ objects simultaneously. This…
Mobile manipulator throwing is a promising method to increase the flexibility and efficiency of dynamic manipulation in factories. Its major challenge is to efficiently plan a feasible throw under a wide set of task specifications. We show…
In this work, we present a manipulation planning algorithm for a robot to keep an object stable under changing external forces. We particularly focus on the case where a human may be applying forceful operations, e.g. cutting or drilling,…
Reinforcement learning and planning methods require an objective or reward function that encodes the desired behavior. Yet, in practice, there is a wide range of scenarios where an objective is difficult to provide programmatically, such as…
In this paper, we look into the minimum obstacle displacement (MOD) planning problem from a mobile robot motion planning perspective. This problem finds an optimal path to goal by displacing movable obstacles when no path exists due to…
Consider a general path planning problem of a robot on a graph with edge costs, and where each node has a Boolean value of success or failure (with respect to some task) with a given probability. The objective is to plan a path for the…
Human awareness in robot motion planning is crucial for seamless interaction with humans. Many existing techniques slow down, stop, or change the robot's trajectory locally to avoid collisions with humans. Although using the information on…
This paper presents a manipulation planning algorithm for robots to reorient objects. It automatically finds a sequence of robot motion that manipulates and prepares an object for specific tasks. Examples of the preparatory manipulation…
This paper develops intelligent algorithms for robots to reorient objects. Given the initial and goal poses of an object, the proposed algorithms plan a sequence of robot poses and grasp configurations that reorient the object from its…
Motion planning is a fundamental problem in autonomous robotics that requires finding a path to a specified goal that avoids obstacles and takes into account a robot's limitations and constraints. It is often desirable for this path to also…