Related papers: First Plan Then Evaluate: Use a Vectorized Motion …
This paper proposes an adaptive lattice-based motion planning solution to address the problem of generating feasible trajectories for systems, represented by a linearly parameterizable non-linear model operating within a cluttered…
Trajectory optimization offers mature tools for motion planning in high-dimensional spaces under dynamic constraints. However, when facing complex configuration spaces, cluttered with obstacles, roboticists typically fall back to…
Recent video generation approaches increasingly rely on planning intermediate control signals such as object trajectories to improve temporal coherence and motion fidelity. However, these methods mostly employ single-shot plans that are…
We address multi-robot geometric task-and-motion planning (MR-GTAMP) problems in synchronous, monotone setups. The goal of the MR-GTAMP problem is to move objects with multiple robots to goal regions in the presence of other movable…
In manipulation tasks, a robot interacts with movable object(s). The configuration space in manipulation planning is thus the Cartesian product of the configuration space of the robot with those of the movable objects. It is the complex…
Optimal path planning is prone to convergence to local, rather than global, optima. This is often the case for mobile manipulators due to nonconvexities induced by obstacles, robot kinematics and constraints. This paper focuses on planning…
The anthropomorphism of grasping process significantly benefits the experience and grasping efficiency of prosthetic hand wearers. Currently, prosthetic hands controlled by signals such as brain-computer interfaces (BCI) and…
We propose a framework for optimizing a planar parallel-jaw gripper for use with multiple objects. While optimizing general-purpose grippers and contact locations for grasps are both well studied, co-optimizing grasps and the gripper…
We present a framework for deformable object manipulation that interleaves planning and control, enabling complex manipulation tasks without relying on high-fidelity modeling or simulation. The key question we address is when should we use…
Mobile manipulators have been employed in many applications that are traditionally performed by either multiple fixed-base robots or a large robotic system. This capability is enabled by the mobility of the mobile base. However, the mobile…
Task and motion planning problems in robotics combine symbolic planning over discrete task variables with motion optimization over continuous state and action variables. Recent works such as PDDLStream have focused on optimistic planning…
Grasp planning for multi-fingered hands is still a challenging task due to the high nonlinear quality metrics, the high dimensionality of hand posture configuration, and complex object shapes. Analytical-based grasp planning algorithms…
Articulated and flexible objects constitute a challenge for robot manipulation tasks but are present in different real-world settings, including home and industrial environments. Current approaches to the manipulation of articulated and…
To perform household tasks, assistive robots receive commands in the form of user language instructions for tool manipulation. The initial stage involves selecting the intended tool (i.e., object grounding) and grasping it in a…
Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…
In teleoperation, research has mainly focused on target approaching, where we deal with the more challenging object manipulation task by advancing the shared control technique. Appropriately manipulating an object is challenging due to the…
Continuous optimization based motion planners require specifying a maneuver class before calculating the optimal trajectory for that class. In traffic, the intentions of other participants are often unclear, presenting multiple maneuver…
We propose an online motion planner for legged robot locomotion with the primary objective of achieving energy efficiency. The conceptual idea is to leverage a placement set of footstep positions based on the robot's body position to…
In scenarios involving the grasping of multiple targets, the learning of stacking relationships between objects is fundamental for robots to execute safely and efficiently. However, current methods lack subdivision for the hierarchy of…
Replanning in temporal logic tasks is extremely difficult during the online execution of robots. This study introduces an effective path planner that computes solutions for temporal logic goals and instantly adapts to non-static and…