Related papers: Tabletop Object Rearrangement: Structure, Complexi…
We focus on the task of unknown object rearrangement, where a robot is supposed to re-configure the objects into a desired goal configuration specified by an RGB-D image. Recent works explore unknown object rearrangement systems by…
Collaborative autonomous driving with multiple vehicles usually requires the data fusion from multiple modalities. To ensure effective fusion, the data from each individual modality shall maintain a reasonably high quality. However, in…
This paper presents a hierarchical motion planner for planning the manipulation motion to repose long and heavy objects considering external support surfaces. The planner includes a task level layer and a motion level layer. We formulate…
This paper presents planning algorithms for a robotic manipulator with a fixed base in order to grasp a target object in cluttered environments. We consider a configuration of objects in a confined space with a high density so no…
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…
In this work, we address a planar non-prehensile sorting task. Here, a robot needs to push many densely packed objects belonging to different classes into a configuration where these classes are clearly separated from each other. To achieve…
Open Cloud Robot Table Organization Challenge (OCRTOC) is one of the most comprehensive cloud-based robotic manipulation competitions. It focuses on rearranging tabletop objects using vision as its primary sensing modality. In this extended…
Extending the capabilities of robotics to real-world complex, unstructured environments requires the need of developing better perception systems while maintaining low sample complexity. When dealing with high-dimensional state spaces,…
Base placement optimization (BPO) is a fundamental capability for mobile manipulation and has been researched for decades. However, it is still very challenging for some reasons. First, compared with humans, current robots are extremely…
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…
Table-top Rearrangement and Planning is a challenging problem that relies heavily on an excellent perception stack. The perception stack involves observing and registering the 3D scene on the table, detecting what objects are on the table,…
This paper investigates Path planning Among Movable Obstacles (PAMO), which seeks a minimum cost collision-free path among static obstacles from start to goal while allowing the robot to push away movable obstacles (i.e., objects) along its…
We consider the problem of building an assistive robotic system that can help humans in daily household cleanup tasks. Creating such an autonomous system in real-world environments is inherently quite challenging, as a general solution may…
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…
Efficiently planning container loads onto trains is a computationally challenging combinatorial optimization problem, central to logistics and supply chain management. A primary source of this complexity arises from the need to model and…
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…
We are interested in pick-and-place style robot manipulation tasks in cluttered and confined 3D workspaces among movable objects that may be rearranged by the robot and may slide, tilt, lean or topple. A recently proposed algorithm, M4M,…
Terahertz communication networks and intelligent reflecting surfaces exhibit significant potential in advancing wireless networks, particularly within the domain of aerial-based multi-access edge computing systems. These technologies enable…
We study the Monotone Sliding Reconfiguration (MSR) problem, in which $\textit{labeled}$ pairwise interior-disjoint objects in a planar workspace need to be brought $\textit{one by one}$ from their initial positions to given target…
Object rearrangement is the problem of enabling a robot to identify the correct object placement in a complex environment. Prior work on object rearrangement has explored a diverse set of techniques for following user instructions to…