Object rearrangement is a widely-applicable and challenging task for robots. Geometric
constraints must be carefully examined to avoid collisions and combinatorial issues arise as …

We propose an image-based, learned method for selective tabletop object rearrangement in
clutter using a parallel jaw gripper. Our method consists of three stages: graph-based object …

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 …

We address multi-robot geometric task-and-motion planning (MR-GTAMP) problems in
synchronous, monotone setups. The goal of the MR-GTAMP problem is to move objects with …

From residential homes to commercial outlets and industrial warehouses, shelves are widely
used to store a variety of objects. We conjecture that optimizing object arrangements can …

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 …

We propose a tree search-based planning algorithm for a robot manipulator to rearrange
objects and grasp a target in a dense space. We consider environments where tasks cannot …

In this article, we present a task and motion planning method for retrieving a target object
from clutter using a robotic manipulator. We consider dense and cluttered environments …

Object manipulation automation in logistic warehouses has recently been actively
researched. However, shelf replenishment is a challenge that requires the precise and …

We address multi-robot geometric task-and-motion planning (MR-GTAMP) problems in
synchronous, monotone setups. The goal of the MR-GTAMP problem is to move objects with …