Related papers: Task Planning for Object Rearrangement in Multi-ro…
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 remains challenging due to collisions and the need for temporary buffering when target poses are obstructed. Prehensile pick-and-place provides precise control but often requires extra moves, whereas…
We consider the problem of grasping in clutter. While there have been motion planners developed to address this problem in recent years, these planners are mostly tailored for open-loop execution. Open-loop execution in this domain,…
We focus on the problem of rearranging a set of objects with a team of car-like robot pushers built using off-the-shelf components. Maintaining control of pushed objects while avoiding collisions in a tight space demands highly coordinated…
Correct-by-construction manipulation planning in a dynamic environment, where other agents can manipulate objects in the workspace, is a challenging problem. The tight coupling of actions and motions between agents and complexity of mission…
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…
A fundamental challenge in multi-robot motion planning is achieving sufficient coordination to avoid inter-robot conflicts without incurring the large computational expense of searching the joint configuration space of the robot group. In…
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…
Robotic assembly planning enables architects to explicitly account for the assembly process during the design phase, and enables efficient building methods that profit from the robots' different capabilities. Previous work has addressed…
Solving task planning problems involving multiple objects and multiple robotic arms poses scalability challenges. Such problems involve not only coordinating multiple high-DoF arms, but also searching through possible sequences of actions…
Object search -- the problem of finding a target object in a cluttered scene -- is essential to solve for many robotics applications in warehouse and household environments. However, cluttered environments entail that objects often occlude…
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…
Tidy-up tasks by service robots in home environments are challenging in robotics applications because they involve various interactions with the environment. In particular, robots are required not only to grasp, move, and release various…
Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…
Non-monotone object rearrangement planning in confined spaces such as cabinets and shelves is a widely occurring but challenging problem in robotics. Both the robot motion and the available regions for object relocation are highly…
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…
Nowadays, a number of grasping algorithms have been proposed, that can predict a candidate of grasp poses, even for unseen objects. This enables a robotic manipulator to pick-and-place such objects. However, some of the predicted grasp…
This paper addresses the problem of discovering the objects present in a collection of images without any supervision. We build on the optimization approach of Vo et al. (CVPR'19) with several key novelties: (1) We propose a novel…
Rearranging objects in cluttered tabletop environments remains a long-standing challenge in robotics. Classical planners often generate inefficient, high-cost plans by shuffling objects individually and using fixed buffers--temporary spaces…
This paper considers centralized mission-planning for a heterogeneous multi-agent system with the aim of locating a hidden target. We propose a mixed observable setting, consisting of a fully observable state-space and a partially…