3 citations · 4 across the 5 of their papers we have counts for
5 papers
Safe, Occlusion-Aware Manipulation for Online Object Reconstruction in Confined Spaces
Yinglong Miao, Rui Wang, Kostas Bekris
Recent work in robotic manipulation focuses on object retrieval in cluttered spaces under occlusion. Nevertheless, the majority of efforts lack an analysis of conditions for the co…
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…
Uniform Object Rearrangement: From Complete Monotone Primitives to Efficient Non-Monotone Informed Search
Rui Wang, Kai Gao, Daniel Nakhimovich +2
Object rearrangement is a widely-applicable and challenging task for robots. Geometric constraints must be carefully examined to avoid collisions and combinatorial issues arise as…
Safe and Effective Picking Paths in Clutter given Discrete Distributions of Object Poses
Rui Wang, Chaitanya Mitash, Shiyang Lu +2
Picking an item in the presence of other objects can be challenging as it involves occlusions and partial views. Given object models, one approach is to perform object pose estimat…