Related papers: Mechanical Search on Shelves using a Novel "Blucti…
Efficiently finding an occluded object with lateral access arises in many contexts such as warehouses, retail, healthcare, shipping, and homes. We introduce LAX-RAY (Lateral Access maXimal Reduction of occupancY support Area), a system to…
Stacking increases storage efficiency in shelves, but the lack of visibility and accessibility makes the mechanical search problem of revealing and extracting target objects difficult for robots. In this paper, we extend the lateral-access…
For applications in e-commerce, warehouses, healthcare, and home service, robots are often required to search through heaps of objects to grasp a specific target object. For mechanical search, we introduce X-Ray, an algorithm based on…
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…
Efficient and safe retrieval of stacked objects in warehouse environments is a significant challenge due to complex spatial dependencies and structural inter-dependencies. Traditional vision-based methods excel at object localization but…
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…
Shelves are commonly used to store objects in homes, stores, and warehouses. We formulate the problem of Optimal Shelf Arrangement (OSA), where the goal is to optimize the arrangement of objects on a shelf for access time given an access…
Suction cups are an important gripper type in industrial robot applications, and prior literature focuses on using vision-based planners to improve grasping success in these tasks. Vision-based planners can fail due to adversarial objects…
The ability to shop independently, especially in grocery stores, is important for maintaining a high quality of life. This can be particularly challenging for people with visual impairments (PVI). Stores carry thousands of products, with…
For planning rearrangements of objects in a clutter, it is required to know the goal configuration of the objects. However, in real life scenarios, this information is not available most of the time. We introduce a novel method that…
Warehouse robotic systems equipped with vacuum grippers must reliably grasp a diverse range of objects from densely packed shelves. However, these environments present significant challenges, including occlusions, diverse object…
We consider a decluttering problem where multiple rigid convex polygonal objects rest in randomly placed positions and orientations on a planar surface and must be efficiently transported to a packing box using both single and multi-object…
Suction cups offer a useful gripping solution, particularly in industrial robotics and warehouse applications. Vision-based grasp algorithms, like Dex-Net, show promise but struggle to accurately perceive dark or reflective objects,…
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…
From refrigerators to kitchen drawers, humans interact with articulated objects effortlessly every day while completing household chores. For automating these tasks, service robots must be capable of manipulating arbitrary articulated…
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…
Many methods have been developed for planning the motion of robotic arms for picking and placing, ranging from local optimization to global search techniques, which are effective for sparsely placed objects. Dense clutter, however, still…
The development of large language models and vision-language models (VLMs) has resulted in the increasing use of robotic systems in various fields. However, the effective integration of these models into real-world robotic tasks is a key…
View materialization, index selection, and plan caching are well-known techniques for optimization of query processing in database systems. The essence of these tasks is to select and save a subset of the most useful candidates…
Advances in machine learning have produced systems that attain human-level performance on certain visual tasks, e.g., object identification. Nonetheless, other tasks requiring visual expertise are unlikely to be entrusted to machines for…