Related papers: RoboPARA: Dual-Arm Robot Planning with Parallel Al…
Dual-arm robots offer enhanced versatility and efficiency over single-arm counterparts by enabling concurrent manipulation of multiple objects or cooperative execution of tasks using both arms. However, the coordination of dual-arm systems…
Autonomous agents powered by large language models (LLMs) have shown impressive capabilities in tool manipulation for complex task-solving. However, existing paradigms such as ReAct rely on sequential reasoning and execution, failing to…
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…
Bimanual robotic manipulation provides significant versatility, but also presents an inherent challenge due to the complexity involved in the spatial and temporal coordination between two hands. Existing works predominantly focus on…
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…
Planning long-horizon robot manipulation requires making discrete decisions about which objects to interact with and continuous decisions about how to interact with them. A robot planner must select grasps, placements, and motions that are…
In post-disaster scenarios, efficient search and rescue operations involve collaborative efforts between robots and humans. Existing planning approaches focus on specific aspects but overlook crucial elements like information gathering,…
High degree-of-freedom dual-arm robots are becoming increasingly common due to their morphology enabling them to operate effectively in human environments. However, motion planning in real-time within unknown, changing environments remains…
This study proposes LiP-LLM: integrating linear programming and dependency graph with large language models (LLMs) for multi-robot task planning. In order for multiple robots to perform tasks more efficiently, it is necessary to manage the…
In collaborative robotic cells, a human operator and a robot share the workspace in order to execute a common job, consisting of a set of tasks. A proper allocation and scheduling of the tasks for the human and for the robot is crucial for…
Long-horizon task and motion planning (TAMP) is notoriously difficult to solve, let alone optimally, due to the tight coupling between the interleaved (discrete) task and (continuous) motion planning phases, where each phase on its own is…
Large Language Models (LLMs) have demonstrated exceptional abilities in reasoning for task planning. However, challenges remain under-explored for parallel schedules. This paper introduces a novel paradigm, plan-over-graph, in which the…
This paper presents a consensus-based payload algorithm (CBPA) to deal with the condition of robots' capability decrease for multi-robot task allocation. During the execution of complex tasks, robots' capabilities could decrease with the…
Multiple robotic systems, working together, can provide important solutions to different real-world applications (e.g., disaster response), among which task allocation problems feature prominently. Very few existing decentralized…
This paper explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In particular, we formulate the plan refinement problem--which,…
Temporal task structure is fundamental for bimanual manipulation: a robot must not only know that one action precedes or overlaps another, but also when each action should occur and how long it should take. While symbolic temporal relations…
In large unknown environments, search operations can be much more time-efficient with the use of multi-robot fleets by parallelizing efforts. This means robots must efficiently perform collaborative mapping (exploration) while…
Bimanual and humanoid robots are appealing because of their human-like ability to leverage multiple arms to efficiently complete tasks. However, controlling multiple arms at once is computationally challenging due to the growth in the…
Automation applications are pushing the deployment of many high DoF manipulators in warehouse and manufacturing environments. This has motivated many efforts on optimizing manipulation tasks involving a single arm. Coordinating multiple…
In this paper we develop optimal algorithms in the binary-forking model for a variety of fundamental problems, including sorting, semisorting, list ranking, tree contraction, range minima, and ordered set union, intersection and difference.…