相关论文: Effective Baselines for Multiple Object Rearrangem…

Object rearrangement is a fundamental problem in robotics with various practical applications ranging from managing warehouses to cleaning and organizing home kitchens. While existing research has primarily focused on single-agent…

Object rearrangement in a multi-room setup should produce a reasonable plan that reduces the agent's overall travel and the number of steps. Recent state-of-the-art methods fail to produce such plans because they rely on explicit…

Object rearrangement is important for many applications but remains challenging, especially in confined spaces, such as shelves, where objects cannot be accessed from above and they block reachability to each other. Such constraints require…

Object manipulation for rearrangement into a specific goal state is a significant task for collaborative robots. Accurately determining object placement is a key challenge, as misalignment can increase task complexity and the risk of…

We study a modular approach to tackle long-horizon mobile manipulation tasks for object rearrangement, which decomposes a full task into a sequence of subtasks. To tackle the entire task, prior work chains multiple stationary manipulation…

Prehensile object rearrangement in cluttered and confined spaces has broad applications but is also challenging. For instance, rearranging products in a grocery shelf means that the robot cannot directly access all objects and has limited…

The prospect of assistive robots aiding in object organization has always been compelling. In an image-goal setting, the robot rearranges the current scene to match the single image captured from the goal scene. The key to an image-goal…

Effectively rearranging heterogeneous objects constitutes a high-utility skill that an intelligent robot should master. Whereas significant work has been devoted to the grasp synthesis of heterogeneous objects, little attention has been…

Physically rearranging objects is an important capability for embodied agents. Visual room rearrangement evaluates an agent's ability to rearrange objects in a room to a desired goal based solely on visual input. We propose a simple yet…

Robot manipulation in cluttered environments often requires complex and sequential rearrangement of multiple objects in order to achieve the desired reconfiguration of the target objects. Due to the sophisticated physical interactions…

In this paper, we examine the problem of rearranging many objects on a tabletop in a cluttered setting using overhand grasps. Efficient solutions for the problem, which capture a common task that we solve on a daily basis, are essential in…

This paper considers the problem of rearrangement planning, i.e finding a sequence of manipulation actions that displace multiple objects from an initial configuration to a given goal configuration. Rearrangement is a critical skill for…

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…

Robots will be expected to manipulate a wide variety of objects in complex and arbitrary ways as they become more widely used in human environments. As such, the rearrangement of objects has been noted to be an important benchmark for AI…

We present an algorithm that produces a plan for relocating obstacles in order to grasp a target in clutter by a robotic manipulator without collisions. We consider configurations where objects are densely populated in a constrained and…

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…

We present an algorithm determining where to relocate objects inside a cluttered and confined space while rearranging objects to retrieve a target object. Although methods that decide what to remove have been proposed, planning for the…

In the context of visual navigation, the capacity to map a novel environment is necessary for an agent to exploit its observation history in the considered place and efficiently reach known goals. This ability can be associated with spatial…

Rearrangement planning for object retrieval tasks from confined spaces is a challenging problem, primarily due to the lack of open space for robot motion and limited perception. Several traditional methods exist to solve object retrieval…

Effectively performing object rearrangement is an essential skill for mobile manipulators, e.g., setting up a dinner table or organizing a desk. A key challenge in such problems is deciding an appropriate manipulation order for objects to…