相关论文: Human-like Planning for Reaching in Cluttered Envi…

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…

Multi-robot control in cluttered environments is a challenging problem that involves complex physical constraints, including robot-robot collisions, robot-obstacle collisions, and unreachable motions. Successful planning in such settings…

We present a human-guided planner for non-prehensile manipulation in clutter. Most recent approaches to manipulation in clutter employs randomized planning, however, the problem remains a challenging one where the planning times are still…

Recent advancements in robotics have transformed industries such as manufacturing, logistics, surgery, and planetary exploration. A key challenge is developing efficient motion planning algorithms that allow robots to navigate complex…

Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…

We present an AND/OR graph-based, integrated multi-robot task and motion planning approach which (i) performs task allocation coordinating the activity of a given number of robots, and (ii) is capable of handling tasks which involve an a…

Understanding the intentions of human teammates is critical for safe and effective human-robot interaction. The canonical approach for human-aware robot motion planning is to first predict the human's goal or path, and then construct a…

Tidy-up tasks by service robots in home environments are challenging in robotics applications because they involve various interactions with the environment. In particular, robots are required not only to grasp, move, and release various…

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…

Efficient and robust task planning for a human-robot collaboration (HRC) system remains challenging. The human-aware task planner needs to assign jobs to both robots and human workers so that they can work collaboratively to achieve better…

Learning motion planners to move robot from one point to another within an obstacle-occupied space in a collision-free manner requires either an extensive amount of data or high-quality demonstrations. This requirement is caused by the fact…

We present a novel approach to path planning for robotic manipulators, in which paths are produced via iterative optimisation in the latent space of a generative model of robot poses. Constraints are incorporated through the use of…

Human-level autonomous driving is an ever-elusive goal, with planning and decision making -- the cognitive functions that determine driving behavior -- posing the greatest challenge. Despite a proliferation of promising approaches, progress…

Cooperative table-carrying is a complex task due to the continuous nature of the action and state-spaces, multimodality of strategies, and the need for instantaneous adaptation to other agents. In this work, we present a method for…

Robotic grasping is a fundamental skill across all domains of robot applications. There is a large body of research for grasping objects in table-top scenarios, where finding suitable grasps is the main challenge. In this work, we are…

Humanoid robots maintain balance and navigate by controlling the contact wrenches applied to the environment. While it is possible to plan dynamically-feasible motion that applies appropriate wrenches using existing methods, a humanoid may…

Planning the motion for humanoid robots is a computationally-complex task due to the high dimensionality of the system. Thus, a common approach is to first plan in the low-dimensional space induced by the robot's feet---a task referred to…

We tackle the challenge of robotic bin packing with irregular objects, such as groceries. Given the diverse physical attributes of these objects and the complex constraints governing their placement and manipulation, employing preprogrammed…

Object search -- the problem of finding a target object in a cluttered scene -- is essential to solve for many robotics applications in warehouse and household environments. However, cluttered environments entail that objects often occlude…

Despite the performance advantages of modern sampling-based motion planners, solving high dimensional planning problems in near real-time remains a challenge. Applications include hyper-redundant manipulators, snake-like and humanoid…