4 papers
Monocular One-Shot Metric-Depth Alignment for RGB-Based Robot Grasping
Teng Guo, Baichuan Huang, Jingjin Yu
Accurate 6D object pose estimation is a prerequisite for successfully completing robotic prehensile and non-prehensile manipulation tasks. At present, 6D pose estimation for roboti…
Efficiently Manipulating Clutter via Learning and Search-Based Reasoning
Baichuan Huang
This thesis presents novel algorithms to advance robotic object rearrangement, a critical task for autonomous systems in applications like warehouse automation and household assist…
LGMCTS: Language-Guided Monte-Carlo Tree Search for Executable Semantic Object Rearrangement
Haonan Chang, Kai Gao, Kowndinya Boyalakuntla +5
We introduce a novel approach to the executable semantic object rearrangement problem. In this challenge, a robot seeks to create an actionable plan that rearranges objects within…
Toward Holistic Planning and Control Optimization for Dual-Arm Rearrangement
Kai Gao, Zihe Ye, Duo Zhang +2
Long-horizon task and motion planning (TAMP) is notoriously difficult to solve, let alone optimally, due to the tight coupling between the interleaved (discrete) task and (continuo…