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We focus on push-based multi-object rearrangement planning using a nonholonomically constrained mobile robot. The simultaneous geometric, kinematic, and physics constraints make this problem especially challenging. Prior work on…

We study the problem of placing a grasped object on an empty flat surface in an upright orientation, such as placing a cup on its bottom rather than on its side. We aim to find the required object rotation such that when the gripper is…

For rearranging objects on tabletops with overhand grasps, temporarily relocating objects to some buffer space may be necessary. This raises the natural question of how many simultaneous storage spaces, or "running buffers", are required so…

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…

Pick-and-place is an important manipulation task in domestic or manufacturing applications. There exist many works focusing on grasp detection with high picking success rate but lacking consideration of downstream manipulation tasks (e.g.,…

Object rearrangement has recently emerged as a key competency in robot manipulation, with practical solutions generally involving object detection, recognition, grasping and high-level planning. Goal-images describing a desired scene…

Aligning partially overlapping point sets where there is no prior information about the value of the transformation is a challenging problem in computer vision. To achieve this goal, we first reduce the objective of the robust point…

We present a method to apply heuristic search algorithms to solve rearrangement planning by pushing problems. In these problems, a robot must push an object through clutter to achieve a goal. To do this, we exploit the fact that contact…

A basic task in the design of a robotic production cell is the relative placement of robot and workpiece. The fundamental requirement is that the robot can reach all process positions; only then one can think of further optimization.…

This paper addresses non-prehensile rearrangement planning problems where a robot is tasked to rearrange objects among obstacles on a planar surface. We present an efficient planning algorithm that is designed to impose few assumptions on…

Given an undirected graph representing similarities between a set of items and an additive measure evaluating the items, we treat the position of a special subset of items in an ordinal ranking through a collection of combinatorial…

Grasping of novel objects in pick and place applications is a fundamental and challenging problem in robotics, specifically for complex-shaped objects. It is observed that the well-known strategies like \textit{i}) grasping from the…

Pick-and-place regrasp is an important manipulation skill for a robot. It helps a robot accomplish tasks that cannot be achieved within a single grasp, due to constraints such as kinematics or collisions between the robot and the…

This work focuses on the dual-arm object rearrangement problem abstracted from a realistic industrial scenario of Cartesian robots. The goal of this problem is to transfer all the objects from sources to targets with the minimum total…

The optimal transport problem has many applications in machine learning, physics, biology, economics, etc. Although its goal is very clear and mathematically well-defined, finding its optimal solution can be challenging for large datasets…

Designing the topology of three-dimensional structures is a challenging problem due to its memory and time consumption. In this paper, we present a robust and efficient algorithm for solving large-scale 3D topology optimization problems.…

We address the problem of visually guided rearrangement planning with many movable objects, i.e., finding a sequence of actions to move a set of objects from an initial arrangement to a desired one, while relying on visual inputs coming…

For tabletop rearrangement problems with overhand grasps, storage space outside the tabletop workspace, or buffers, can temporarily hold objects which greatly facilitates the resolution of a given rearrangement task. This brings forth the…

This paper develops model-based grasp planning algorithms for assembly tasks. It focuses on industrial end-effectors like grippers and suction cups, and plans grasp configurations considering CAD models of target objects. The developed…

Task planning and motion planning are two of the most important problems in robotics, where task planning methods help robots achieve high-level goals and motion planning methods maintain low-level feasibility. Task and motion planning…