Related papers: Effective Baselines for Multiple Object Rearrangem…

Complex manipulation tasks, such as rearrangement planning of numerous objects, are combinatorially hard problems. Existing algorithms either do not scale well or assume a great deal of prior knowledge about the environment, and few offer…

Human environments contain numerous objects configured in a variety of arrangements. Our goal is to enable robots to repose previously unseen objects according to learned semantic relationships in novel environments. We break this problem…

Desktop organization remains challenging for service robots because of heterogeneous objects and diverse manipulation objectives, such as collection and stacking. In this article, a task-oriented framework is presented for organizing planar…

A great number of robotics applications demand the rearrangement of many mobile objects, e.g., organizing products on shelves, shuffling containers at shipping ports, reconfiguring fleets of mobile robots, and so on. To boost the throughput…

Objects rarely sit in isolation in human environments. As such, we'd like our robots to reason about how multiple objects relate to one another and how those relations may change as the robot interacts with the world. To this end, we…

Task and motion planning are long-standing challenges in robotics, especially when robots have to deal with dynamic environments exhibiting long-term dynamics, such as households or warehouses. In these environments, long-term dynamics…

Non-prehensile multi-object rearrangement is a robotic task of planning feasible paths and transferring multiple objects to their predefined target poses without grasping. It needs to consider how each object reaches the target and the…

We investigate the problem of coordinating two robot arms to solve non-monotone tabletop multi-object rearrangement tasks. In a non-monotone rearrangement task, complex object-object dependencies exist that require moving some objects…

Object rearrangement planning in complex, cluttered environments is a common challenge in warehouses, households, and rescue sites. Prior studies largely address monotone instances, whereas real-world tasks are often non-monotone-objects…

Planning plays an important role in the broad class of decision theory. Planning has drawn much attention in recent work in the robotics and sequential decision making areas. Recently, Reinforcement Learning (RL), as an agent-environment…

Animals execute goal-directed behaviours despite the limited range and scope of their sensors. To cope, they explore environments and store memories maintaining estimates of important information that is not presently available. Recently,…

Using LLMs not to predict plans but to formalize an environment into the Planning Domain Definition Language (PDDL) has been shown to improve performance and control. While most existing methodology only applies to fully observable…

We use the reconfiguration framework to analyze problems that involve the rearrangement of items among groups. In various applications, a group of items could correspond to the files or jobs assigned to a particular machine, and the goal of…

Efficient learning from demonstration for long-horizon tasks remains an open challenge in robotics. While significant effort has been directed toward learning trajectories, a recent resurgence of object-centric approaches has demonstrated…

Augmented-reality (AR) glasses that will have access to onboard sensors and an ability to display relevant information to the user present an opportunity to provide user assistance in quotidian tasks. Many such tasks can be characterized as…

We describe a framework for research and evaluation in Embodied AI. Our proposal is based on a canonical task: Rearrangement. A standard task can focus the development of new techniques and serve as a source of trained models that can be…

This thesis presents novel algorithms to advance robotic object rearrangement, a critical task for autonomous systems in applications like warehouse automation and household assistance. Addressing challenges of high-dimensional planning,…

Efficient tabletop rearrangement planning seeks to find high-quality solutions while minimizing total cost. However, the task is challenging due to object dependencies and limited buffer space for temporary placements. The complexity…

Deep Reinforcement Learning (RL) is successful in solving many complex Markov Decision Processes (MDPs) problems. However, agents often face unanticipated environmental changes after deployment in the real world. These changes are often…

We present a coordination method for multiple mobile manipulators to sort objects in clutter. We consider the object rearrangement problem in which the objects must be sorted into different groups in a particular order. In clutter, the…