Algorithms and systems for manipulating multiple objects
Robot manipulation of multiple objects is an important topic for applications including
warehouse automation, service robots performing cleaning, and large-scale object sorting …
warehouse automation, service robots performing cleaning, and large-scale object sorting …
Nerp: Neural rearrangement planning for unknown objects
AH Qureshi, A Mousavian, C Paxton, MC Yip… - ar** of fully-occluded objects using rf perception
We present the design, implementation, and evaluation of RF-Grasp, a robotic system that
can grasp fully-occluded objects in unknown and unstructured environments. Unlike prior …
can grasp fully-occluded objects in unknown and unstructured environments. Unlike prior …
Fast and resilient manipulation planning for target retrieval in clutter
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 …
in order to retrieve a target object from clutter. We consider a configuration of objects in a …
Persistent homology for effective non-prehensile manipulation
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 …
manipulation in cluttered, constrained workspaces. In particular, it proposes the use of …
Minimizing running buffers for tabletop object rearrangement: Complexity, fast algorithms, and applications
For rearranging objects on tabletops with overhand grasps, temporarily relocating objects to
some buffer space may be necessary. This raises the natural question of how many …
some buffer space may be necessary. This raises the natural question of how many …
Semantic and geometric modeling with neural message passing in 3d scene graphs for hierarchical mechanical search
Searching for objects in indoor organized environments such as homes or offices is part of
our everyday activities. When looking for a desired object, we reason about the rooms and …
our everyday activities. When looking for a desired object, we reason about the rooms and …