Related papers: Optimal and Stable Multi-Layer Object Rearrangemen…
This thesis provides an in-depth structural analysis and efficient algorithmic solutions for tabletop object rearrangement with overhand grasps (TORO), a foundational task in advancing intelligent robotic manipulation. Rearranging multiple…
Effectively rearranging heterogeneous objects constitutes a high-utility skill that an intelligent robot should master. Whereas significant work has been devoted to the grasp synthesis of heterogeneous objects, little attention has been…
This paper studies the underlying combinatorial structure of a class of object rearrangement problems, which appear frequently in applications. The problems involve multiple, similar-geometry objects placed on a flat, horizontal surface,…
Finding an high-quality solution for the tabletop object rearrangement planning is a challenging problem. Compared to determining a goal arrangement, rearrangement planning is challenging due to the dependencies between objects and the…
This paper studies the underlying combinatorial structure of a class of object rearrangement problems, which appear frequently in applications. The problems involve multiple, similar-geometry objects placed on a flat, horizontal surface,…
Rearranging objects on a planar surface arises in a variety of robotic applications, such as product packaging. Using two arms can improve efficiency but introduces new computational challenges. This paper studies the structure of dual-arm…
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…
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…
This work studies rearrangement problems involving the sorting of robots or objects in stack-like containers, which can be accessed only from one side. Two scenarios are considered: one where every robot or object needs to reach a…
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…
In this paper, we examine the problem of rearranging many objects on a tabletop in a cluttered setting using overhand grasps. Efficient solutions for the problem, which capture a common task that we solve on a daily basis, are essential in…
For rearranging objects on tabletops with overhand grasps, temporarily relocating objects to some buffer space may be necessary. This raises the natural question of how many simultaneous storage spaces, or "running buffers", are required so…
Object rearrangement in a multi-room setup should produce a reasonable plan that reduces the agent's overall travel and the number of steps. Recent state-of-the-art methods fail to produce such plans because they rely on explicit…
Object rearrangement is a widely-applicable and challenging task for robots. Geometric constraints must be carefully examined to avoid collisions and combinatorial issues arise as the number of objects increases. This work studies the…
Effectively performing object rearrangement is an essential skill for mobile manipulators, e.g., setting up a dinner table or organizing a desk. A key challenge in such problems is deciding an appropriate manipulation order for objects to…
Task planning and motion planning are two of the most important problems in robotics, where task planning methods help robots achieve high-level goals and motion planning methods maintain low-level feasibility. Task and motion planning…
We propose Synchronous Dual-Arm Rearrangement Planner (SDAR), a task and motion planning (TAMP) framework for tabletop rearrangement, where two robot arms equipped with 2-finger grippers must work together in close proximity to rearrange…
For tabletop rearrangement problems with overhand grasps, storage space outside the tabletop workspace, or buffers, can temporarily hold objects which greatly facilitates the resolution of a given rearrangement task. This brings forth the…
Rearranging objects on a tabletop surface by means of nonprehensile manipulation is a task which requires skillful interaction with the physical world. Usually, this is achieved by precisely modeling physical properties of the objects,…
Multi-object rearrangement is a crucial skill for service robots, and commonsense reasoning is frequently needed in this process. However, achieving commonsense arrangements requires knowledge about objects, which is hard to transfer to…