Related papers: Pack it in: Packing into Partially Filled Containe…
The rapid deployment of robotics technologies requires dedicated optimization algorithms to manage large fleets of autonomous agents. This paper supports robotic parts-to-picker operations in warehousing by optimizing order-workstation…
Object finding in clutter is a skill that requires perception of the environment and in many cases physical interaction. In robotics, interactive perception defines a set of algorithms that leverage actions to improve the perception of the…
Containerization is a lightweight application virtualization technology, providing high environmental consistency, operating system distribution portability, and resource isolation. Existing mainstream cloud service providers have…
E-commerce with major online retailers is changing the way people consume. The goal of increasing delivery speed while remaining cost-effective poses significant new challenges for supply chains as they race to satisfy the growing and…
The Bin Packing Problem is a classic problem with wide industrial applicability. In fact, the efficient packing of items into bins is one of the toughest challenges in many logistic corporations and is a critical issue for reducing storage…
In the recent paper \cite{BDT10} we introduced a new problem that we call Bin Packing/Covering with Delivery, or BP/CD for short. Mainly we mean under this expression that we look for not only a good, but a "good and fast" packing or…
Cutting and packing problems are present in many, at first glance unconnected, areas, therefore it's beneficial to have a good understanding of their underlying structure, to select proper techniques for finding solutions. Cutting and…
This work demonstrates how autonomously learning aspects of robotic operation from sparsely-labeled, real-world data of deployed, engineered solutions at industrial scale can provide with solutions that achieve improved performance.…
Trusting simulation output is crucial for Sandia's mission objectives. We rely on these simulations to perform our high-consequence mission tasks given national treaty obligations. Other science and modeling applications, while they may…
In this paper we present a novel application of detecting fruit picker activities based on time series data generated from wearable sensors. During harvesting, fruit pickers pick fruit into wearable bags and empty these bags into harvesting…
We address the longstanding challenge of producing flexible, realistic humanoid character controllers that can perform diverse whole-body tasks involving object interactions. This challenge is central to a variety of fields, from graphics…
We propose a human-operator guided planning approach to pushing-based manipulation in clutter. Most recent approaches to manipulation in clutter employs randomized planning. The problem, however, remains a challenging one where the planning…
Catching objects in flight (i.e., thrown objects) is a common daily skill for humans, yet it presents a significant challenge for robots. This task requires a robot with agile and accurate motion, a large spatial workspace, and the ability…
Grasping in cluttered environments is a fundamental but challenging robotic skill. It requires both reasoning about unseen object parts and potential collisions with the manipulator. Most existing data-driven approaches avoid this problem…
Robotic systems for retail have gained a lot of attention due to the labor-intensive nature of such business environments. Many tasks have the potential to be automated via intelligent robotic systems that have manipulation capabilities.…
Planning motions to grasp an object in cluttered and uncertain environments is a challenging task, particularly when a collision-free trajectory does not exist and objects obstructing the way are required to be carefully grasped and moved…
Grasping, in both biological and engineered mechanisms, can be highly sensitive to the gripper and object morphology, as well as perception, and motion planning. Here we circumvent the need for feedback or precise planning by using an array…
In this paper, we address the challenge of performing non-prehensile pushing operations with a compliant robotic manipulation system. To ensure safe operations in human-populated environments, robots must comply with external physical…
Smart modular freight containers -- as propagated in the Physical Internet paradigm -- are equipped with sensors, data storage capability and intelligence that enable them to route themselves from origin to destination without manual…
Unloading containers in the courier, express and parcel industry is a physically demanding and labor-intensive work. Automatizing this process is an important step towards increasing the efficiency of parcel-handling systems. This work…