Related papers: Persistent Homology for Effective Non-Prehensile M…
We propose a human-operator guided planning approach to pushing-based manipulation in clutter. Most recent approaches to manipulation in clutter employs randomized planning. The problem, however, remains a challenging one where the planning…
We propose a functorial framework for persistent homology based on finite topological spaces and their associated posets. Starting from a finite metric space, we associate a filtration of finite topologies whose structure maps are…
Most object manipulation strategies for robots are based on the assumption that the object is rigid (i.e., with fixed geometry) and the goal's details have been fully specified (e.g., the exact target pose). However, there are many tasks…
This paper presents a task and motion planning (TAMP) framework for a robotic manipulator in order to retrieve a target object from clutter. We consider a configuration of objects in a confined space with a high density so no collision-free…
This paper presents an approach to in-hand manipulation planning that exploits the mechanics of alternating sticking contact. Particularly, we consider the problem of manipulating a grasped object using external pushes for which the pusher…
Persistent homology is a technique recently developed in algebraic and computational topology well-suited to analysing structure in complex, high-dimensional data. In this paper, we exposit the theory of persistent homology from first…
In topological data analysis, persistent homology is used to study the "shape of data". Persistent homology computations are completely characterized by a set of intervals called a bar code. It is often said that the long intervals…
Persistent homology is a mathematical tool used for studying the shape of data by extracting its topological features. It has gained popularity in network science due to its applicability in various network mining problems, including…
This work proposes a robot task planning framework for retrieving a target object in a confined workspace among multiple stacked objects that obstruct the target. The robot can use prehensile picking and in-workspace placing actions. The…
Dexterous hands enable concurrent prehensile and nonprehensile manipulation, such as holding one object while interacting with another, a capability essential for everyday tasks yet underexplored in robotics. Learning such long-horizon,…
Persistent homology is a powerful mathematical tool that summarizes useful information about the shape of data allowing one to detect persistent topological features while one adjusts the resolution. However, the computation of such…
Persistent homology is a topological feature used in a variety of applications such as generating features for data analysis and penalizing optimization problems. We develop an approach to accelerate persistent homology computations…
Recognition of occluded objects in unseen and unstructured indoor environments is a challenging problem for mobile robots. To address this challenge, we propose a new descriptor, TOPS, for point clouds generated from depth images and an…
We address prehensile pushing, the problem of manipulating a grasped object by pushing against the environment. Our solution is an efficient nonlinear trajectory optimization problem relaxed from an exact mixed integer non-linear trajectory…
Prediction and discovery of new materials with desired properties are at the forefront of quantum science and technology research. A major bottleneck in this field is the computational resources and time complexity related to finding new…
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…
In recent years, cosmic shear has emerged as a powerful tool to study the statistical distribution of matter in our Universe. Apart from the standard two-point correlation functions, several alternative methods like peak count statistics…
Nonprehensile actions such as pushing are crucial for addressing multi-object rearrangement problems. Many traditional methods generate robot-centric actions, which differ from intuitive human strategies and are typically inefficient. To…
This paper addresses the problem of picking up only one object at a time avoiding any entanglement in bin-picking. To cope with a difficult case where the complex-shaped objects are heavily entangled together, we propose a topology-based…
We present a method to apply heuristic search algorithms to solve rearrangement planning by pushing problems. In these problems, a robot must push an object through clutter to achieve a goal. To do this, we exploit the fact that contact…