相关论文: Regrasp Maps for Sequential Manipulation Planning

We consider the problem of grasping in clutter. While there have been motion planners developed to address this problem in recent years, these planners are mostly tailored for open-loop execution. Open-loop execution in this domain,…

Grasp planning is an important task for robotic manipulation. Though it is a richly studied area, a standalone, fast, and differentiable grasp planner that can work with robot grippers of different DOFs has not been reported. In this work,…

Generating natural and physically feasible motions for legged robots has been a challenging problem due to its complex dynamics. In this work, we introduce a novel learning-based framework of autoregressive motion planner (ARMP) for…

The use of machine learning to investigate grasp affordances has received extensive attention over the past several decades. The existing literature provides a robust basis to build upon, though a number of aspects may be improved. Results…

Loco-manipulation planning skills are pivotal for expanding the utility of robots in everyday environments. These skills can be assessed based on a system's ability to coordinate complex holistic movements and multiple contact interactions…

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…

While robotic spatial extrusion has demonstrated a new and efficient means to fabricate 3D truss structures in architectural scale, a major challenge remains in automatically planning extrusion sequence and robotic motion for trusses with…

Due to their complexity, foliated structure problems often pose intricate challenges to task and motion planning in robotics manipulation. To counter this, our study presents the ``Foliated Repetition Roadmap.'' This roadmap assists task…

Multi-Agent Path Finding (MAPF) in crowded environments presents a challenging problem in motion planning, aiming to find collision-free paths for all agents in the system. MAPF finds a wide range of applications in various domains,…

We introduce the Block Rearrangement Problem (BRaP), a challenging component of large warehouse management which involves rearranging storage blocks within dense grids to achieve a goal state. We formally define the BRaP as a graph search…

The Multi-Agent Path Finding (MAPF) problem aims to find collision-free paths for multiple agents while optimizing objectives such as the sum of costs or makespan. MAPF has wide applications in domains like automated warehouses,…

The workspace limits the operational capabilities and range of motion for the systems with robotic arms. Maximizing workspace utilization has the potential to provide more optimal solutions for aerial manipulation tasks, increasing the…

Task failures in prior fine-grained robotic manipulation methods often stem from suboptimal initial grasping, which is critical for subsequent manipulation and reducing the requirement for complex pose adjustments. To address this, we…

Rapid and reliable robot bin picking is a critical challenge in automating warehouses, often measured in picks-per-hour (PPH). We explore increasing PPH using faster motions based on optimizing over a set of candidate grasps. The source of…

Tensor parallelism is an essential technique for distributed training of large neural networks. However, automatically determining an optimal tensor parallel strategy is challenging due to the gigantic search space, which grows…

Multi-Agent Path Finding (MAPF) is an NP-hard problem well studied in artificial intelligence and robotics. It has many real-world applications for which existing MAPF solvers use various heuristics. However, these solvers are deterministic…

In this paper we propose an approach for efficient grasp selection for manipulation tasks of unknown objects. Even for simple tasks such as pick-and-place, a unique solution is rare to occur. Rather, multiple candidate grasps must be…

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…

One of the key limitations of Molecular Dynamics simulations is the computational intractability of sampling protein conformational landscapes associated with either large system size or long timescales. To overcome this bottleneck, we…

This paper presents the Language Aided Subset Sampling Based Motion Planner (LASMP), a system that helps mobile robots plan their movements by using natural language instructions. LASMP uses a modified version of the Rapidly Exploring…