Perceiving and manipulating 3D articulated objects in diverse environments is essential for
home-assistant robots. Recent studies have shown that point-level affordance provides …

Robot manipulation of multiple objects is an important topic for applications including
warehouse automation, service robots performing cleaning, and large-scale object sorting …

The uncertainty and dynamic of home environment present great challenges to the task
planning of service robots. The nature of the home environment is highly unstructured, with a …

Robotic object rearrangement combines the skills of picking and placing objects. When
object models are unavailable, typical collision-checking models may be unable to predict …

Object rearrangement is pivotal in robotic-environment interactions, representing a
significant capability in embodied AI. In this paper, we present SG-Bot, a novel …

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 …

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 …

Bimanual manipulation is important for building intelligent robots that unlock richer skills
than single arms. We consider a multi-object bimanual rearrangement task, where a …

This paper presents a task and motion planning (TAMP) framework for a robotic manipulator
in order to retrieve a target object from clutter. We consider a configuration of objects in a …

This work explores the use of topological tools for achieving effective non-prehensile
manipulation in cluttered, constrained workspaces. In particular, it proposes the use of …