2 citations · 3 across the 7 of their papers we have counts for
7 papers · 1 filter
MuST: Multi-Head Skill Transformer for Long-Horizon Dexterous Manipulation with Skill Progress
Kai Gao, Fan Wang, Erica Aduh +2
Robot picking and packing tasks require dexterous manipulation skills, such as rearranging objects to establish a good grasping pose, or placing and pushing items to achieve tight…
Tabletop Object Rearrangement: Structure, Complexity, and Efficient Combinatorial Search-Based Solutions
Kai Gao
This thesis provides an in-depth structural analysis and efficient algorithmic solutions for tabletop object rearrangement with overhand grasps (TORO), a foundational task in advan…
Persistent Homology for Effective Non-Prehensile Manipulation
Ewerton R. Vieira, Daniel Nakhimovich, Kai Gao +3
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 pers…
Fast High-Quality Tabletop Rearrangement in Bounded Workspace
Kai Gao, Darren Lau, Baichuan Huang +2
In this paper, we examine the problem of rearranging many objects on a tabletop in a cluttered setting using overhand grasps. Efficient solutions for the problem, which capture a c…
Capacitated Vehicle Routing with Target Geometric Constraints
Kai Gao, Jingjin Yu
We investigate the capacitated vehicle routing problem (CVRP) under a robotics context, where a vehicle with limited payload must complete delivery (or pickup) tasks to serve a set…
Sensor Placement for Globally Optimal Coverage of 3D-Embedded Surfaces
Si Wei Feng, Kai Gao, Jie Gong +1
We carry out a structural and algorithmic study of a mobile sensor coverage optimization problem targeting 2D surfaces embedded in a 3D workspace. The investigated settings model m…