49 citations · 125 across the 28 of their papers we have counts for
4 papers · 1 filter
Multi-Object Rearrangement with Monte Carlo Tree Search:A Case Study on Planar Nonprehensile Sorting
Haoran Song, Joshua A. Haustein, Weihao Yuan +4
In this work, we address a planar non-prehensile sorting task. Here, a robot needs to push many densely packed objects belonging to different classes into a configuration where the…
Object Placement Planning and Optimization for Robot Manipulators
Joshua A. Haustein, Kaiyu Hang, Johannes Stork +1
We address the problem of motion planning for a robotic manipulator with the task to place a grasped object in a cluttered environment. In this task, we need to locate a collision-…
Dual-Arm In-Hand Manipulation and Regrasping Using Dexterous Manipulation Graphs
Silvia Cruciani, Kaiyu Hang, Christian Smith +1
This work focuses on the problem of in-hand manipulation and regrasping of objects with parallel grippers. We propose Dexterous Manipulation Graph (DMG) as a representation on whic…
Learning Manipulation States and Actions for Efficient Non-prehensile Rearrangement Planning
Joshua A. Haustein, Isac Arnekvist, Johannes Stork +2
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 planni…