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cs.RO2025
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…
cs.RO2025
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…