3 citations · 12 across the 19 of their papers we have counts for
5 papers · 1 filter
Effective and Robust Non-Prehensile Manipulation via Persistent Homology Guided Monte-Carlo Tree Search
Ewerton R. Vieira, Kai Gao, Daniel Nakhimovich +2
Performing object retrieval in real-world workspaces must tackle challenges including \emph{uncertainty} and \emph{clutter}. One option is to apply prehensile operations, which can…
On the Utility of Buffers in Pick-n-Swap Based Lattice Rearrangement
Kai Gao, Jingjin Yu
We investigate the utility of employing multiple buffers in solving a class of rearrangement problems with pick-n-swap manipulation primitives. In this problem, objects stored rand…
Toward Efficient Task Planning for Dual-Arm Tabletop Object Rearrangement
Kai Gao, Jingjin Yu
We investigate the problem of coordinating two robot arms to solve non-monotone tabletop multi-object rearrangement tasks. In a non-monotone rearrangement task, complex object-obje…
Lazy Rearrangement Planning in Confined Spaces
Rui Wang, Kai Gao, Jingjin Yu +1
Object rearrangement is important for many applications but remains challenging, especially in confined spaces, such as shelves, where objects cannot be accessed from above and the…
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…