相关论文: Non-Prehensile Manipulation in Clutter with Human-…
This paper explores the Navigation Among Movable Obstacles (NAMO) problem and proposes joint path and push planning: which path to take and in what direction the obstacles should be pushed at, given a start and goal position. We present a…
Automating warehouse operations can reduce logistics overhead costs, ultimately driving down the final price for consumers, increasing the speed of delivery, and enhancing the resiliency to workforce fluctuations. The past few years have…
We present a probabilistic approach for building, on the fly, 3-D models of unknown objects while being manipulated by a robot. We specifically consider manipulation tasks in piles of clutter that contain previously unseen objects. Most…
The manpower scheduling problem is a critical research field in the resource management area. Based on the existing studies on scheduling problem solutions, this paper transforms the manpower scheduling problem into a combinational…
Symbolic motion planning for robots is the process of specifying and planning robot tasks in a discrete space, then carrying them out in a continuous space in a manner that preserves the discrete-level task specifications. Despite progress…
Planning balanced and collision-free motion for humanoid robots is non-trivial, especially when they are operated in complex environments, such as reaching targets behind obstacles or through narrow passages. We propose a method that allows…
While the emergence of powerful language models along with Chain-of-thought prompting has made automation more and more omnipresent, it sometimes demonstrates its weakness in long-term or multi-step logical reasoning. For example, users…
In this letter, we propose an efficient and highly versatile loco-manipulation planning for humanoid robots. Loco-manipulation planning is a key technological brick enabling humanoid robots to autonomously perform object transportation by…
Human dexterity is an invaluable capability for precise manipulation of objects in complex tasks. The capability of robots to similarly grasp and perform in-hand manipulation of objects is critical for their use in the ever changing human…
Coordinating agents to complete a set of tasks with intercoupled temporal and resource constraints is computationally challenging, yet human domain experts can solve these difficult scheduling problems using paradigms learned through years…
Motion generation in cluttered, dense, and dynamic environments is a central topic in robotics, rendered as a multi-objective decision-making problem. Current approaches trade-off between safety and performance. On the one hand, reactive…
In this work we tackle the path planning problem for a 21-dimensional snake robot-like manipulator, navigating a cluttered gas turbine for the purposes of inspection. Heuristic search based approaches are effective planning strategies for…
Integrating human expertise into machine learning systems often reduces the role of experts to labeling oracles, a paradigm that limits the amount of information exchanged and fails to capture the nuances of human judgment. We address this…
This paper presents a general-purpose formulation of a large class of discrete-time planning problems, with hybrid state and control-spaces, as factored transition systems. Factoring allows state transitions to be described as the…
Navigating in crowded environments requires the robot to be equipped with high-level reasoning and planning techniques. Existing works focus on developing complex and heavyweight planners while ignoring the role of human intelligence. Since…
As one of the simplest non-prehensile manipulation skills, pushing has been widely studied as an effective means to rearrange objects. Existing approaches, however, typically rely on multi-step push plans composed of pre-defined pushing…
Procedural planning aims to implement complex high-level goals by decomposition into sequential simpler low-level steps. Although procedural planning is a basic skill set for humans in daily life, it remains a challenge for large language…
Planning motions for two robot arms to move an object collaboratively is a difficult problem, mainly because of the closed-chain constraint, which arises whenever two robot hands simultaneously grasp a single rigid object. In this paper, we…
We present a heuristic algorithm for solving the problem of scheduling plans of tasks. The plans are ordered vectors of tasks, and tasks are basic operations carried out by resources. Plans are tied by temporal, precedence and resource…
We present placing via picking (PvP), a method to autonomously collect real-world demonstrations for a family of placing tasks in which objects must be manipulated to specific, contact-constrained locations. With PvP, we approach the…