11 citations · 26 across the 20 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-…
Data-Driven Model Predictive Control for Food-Cutting
Ioanna Mitsioni, Yiannis Karayiannidis, Johannes A. Stork +1
Modelling of contact-rich tasks is challenging and cannot be entirely solved using classical control approaches due to the difficulty of constructing an analytic description of the…
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…