Related papers: Environment-aware Interactive Movement Primitives …
This work considers a Motion Planning Problem with Dynamic Obstacles (MPDO) in 2D that requires finding a minimum-arrival-time collision-free trajectory for a point robot between its start and goal locations amid dynamic obstacles moving…
We investigate the problem of multi-robot coordinated planning in environments where the robots may have to operate in close proximity to each other. We seek computationally efficient planners that ensure safe paths and adherence to…
To solve the autonomous navigation problem in complex environments, an efficient motion planning approach is newly presented in this paper. Considering the challenges from large-scale, partially unknown complex environments, a three-layer…
We present a planner for large-scale (un)labeled object sorting tasks, which uses two types of manipulation actions: overhead grasping and planar pushing. The grasping action offers completeness guarantee under mild assumptions, and planar…
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…
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…
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 address the problem of motion planning for a robotic manipulator with the task to place a grasped object in a cluttered environment. In this task, we need to locate a collision-free pose for the object that a) facilitates the stable…
As robotic systems increasingly operate in unstructured, cluttered, and previously unseen environments, there is a growing need for manipulators that combine compliance, adaptability, and precise control. This work presents a real-time…
Robotic manipulation in complex, constrained spaces is vital for widespread applications but challenging, particularly when navigating narrow passages with elongated objects. Existing planning methods often fail in these low-clearance…
Recent progress in robotic manipulation has dealt with the case of previously unknown objects in the context of relatively simple tasks, such as bin-picking. Existing methods for more constrained problems, however, such as deliberate…
Automating labor-intensive tasks such as crop monitoring with robots is essential for enhancing production and conserving resources. However, autonomously monitoring horticulture crops remains challenging due to their complex structures,…
Dynamic movement primitives are widely used for learning skills which can be demonstrated to a robot by a skilled human or controller. While their generalization capabilities and simple formulation make them very appealing to use, they…
In this paper, we propose a neural motion planner (NMP) for learning to drive autonomously in complex urban scenarios that include traffic-light handling, yielding, and interactions with multiple road-users. Towards this goal, we design a…
Grasping a novel target object in constrained environments (e.g., walls, bins, and shelves) requires intensive reasoning about grasp pose reachability to avoid collisions with the surrounding structures. Typical 6-DoF robotic grasping…
Indoor motion planning focuses on solving the problem of navigating an agent through a cluttered environment. To date, quite a lot of work has been done in this field, but these methods often fail to find the optimal balance between…
It is difficult for robots to retrieve objects in densely cluttered lateral access scenes with movable objects as jamming against adjacent objects and walls can inhibit progress. We propose the use of two action primitives -- burrowing and…
Non-prehensile manipulation of diverse objects remains a core challenge in robotics, driven by unknown physical properties and the complexity of contact-rich interactions. Recent advances in contact-implicit model predictive control…
In this work, a set of motion primitives is defined for use in an energy-aware motion planning problem. The motion primitives are defined as sequences of control inputs to a simplified four-DOF dynamics model and are used to replace the…
Reliable aerial grasping in cluttered environments remains challenging due to occlusions and collision risks. Existing aerial manipulation pipelines largely rely on centroid-based grasping and lack integration between the grasp pose…