相关论文: Complexity Results and Fast Methods for Optimal Ta…

Robotic grasping in cluttered environments remains a significant challenge due to occlusions and complex object arrangements. We have developed ThinkGrasp, a plug-and-play vision-language grasping system that makes use of GPT-4o's advanced…

We consider the problem of retrieving a target object from a confined space by two robotic manipulators where overhand grasps are not allowed. If other movable obstacles occlude the target, more than one object should be relocated to clear…

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…

We study the computational complexity of optimally solving multi-robot path planning problems on planar graphs. For four common time- and distance-based objectives, we show that the associated path optimization problems for multiple robots…

The matching of multiple objects (e.g. shapes or images) is a fundamental problem in vision and graphics. In order to robustly handle ambiguities, noise and repetitive patterns in challenging real-world settings, it is essential to take…

The ability to place objects in the environment is an important skill for a personal robot. An object should not only be placed stably, but should also be placed in its preferred location/orientation. For instance, a plate is preferred to…

Service robots are expected to autonomously and efficiently work in human-centric environments. For this type of robots, object perception and manipulation are challenging tasks due to need for accurate and real-time response. This paper…

We examine an important combinatorial challenge in clearing clutter using a mobile robot equipped with a manipulator, seeking to compute an optimal object removal sequence for minimizing the task completion time, assuming that each object…

This paper presents an assisted telemanipulation framework for reaching and grasping desired objects from clutter. Specifically, the developed system allows an operator to select an object from a cluttered heap and effortlessly grasp it,…

We focus on multi-object rearrangement planning in densely cluttered environments using a car-like robot pusher. The combination of kinematic, geometric and physics constraints underlying this domain results in challenging nonmonotone…

This paper addresses the problem of picking up only one object at a time avoiding any entanglement in bin-picking. To cope with a difficult case where the complex-shaped objects are heavily entangled together, we propose a topology-based…

Robotic pick-and-place (PnP) operations on moving conveyors find a wide range of industrial applications. In practice, simple greedy heuristics (e.g., prioritization based on the time to process a single object) are applied that achieve…

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…

Feasibility problem aims to find a common point of two or more closed (convex) sets whose intersection is nonempty. In the literature, projection based algorithms are widely adopted to solve the problem, such as the method of alternating…

Grasping is essential in robotic manipulation, yet challenging due to object and gripper diversity and real-world complexities. Traditional analytic approaches often have long optimization times, while data-driven methods struggle with…

Hypergraph matching has recently become a popular approach for solving correspondence problems in computer vision as it allows to integrate higher-order geometric information. Hypergraph matching can be formulated as a third-order…

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…

This paper studies the challenge of developing robots capable of understanding under-specified instructions for creating functional object arrangements, such as "set up a dining table for two"; previous arrangement approaches have focused…

Robotic object rearrangement combines the skills of picking and placing objects. When object models are unavailable, typical collision-checking models may be unable to predict collisions in partial point clouds with occlusions, making…

Cooperative Co-evolution, through the decomposition of the problem space, is a primary approach for solving large-scale global optimization problems. Typically, when the subspaces are disjoint, the algorithms demonstrate significantly both…