17 citations · 43 across the 13 of their papers we have counts for
14 papers
The Teenager's Problem: Efficient Garment Decluttering as Probabilistic Set Cover
Aviv Adler, Ayah Ahmad, Yulei Qiu +9
This paper addresses the "Teenager's Problem": efficiently removing scattered garments from a planar surface into a basket. As grasping and transporting individual garments is high…
The Busboy Problem: Efficient Tableware Decluttering Using Consolidation and Multi-Object Grasps
Kishore Srinivas, Shreya Ganti, Rishi Parikh +4
We present the "Busboy Problem": automating an efficient decluttering of cups, bowls, and silverware from a planar surface. As grasping and transporting individual items is highly…
Push-MOG: Efficient Pushing to Consolidate Polygonal Objects for Multi-Object Grasping
Shrey Aeron, Edith LLontop, Aviv Adler +3
Recently, robots have seen rapidly increasing use in homes and warehouses to declutter by collecting objects from a planar surface and placing them into a container. While current…
Learning to Efficiently Plan Robust Frictional Multi-Object Grasps
Wisdom C. Agboh, Satvik Sharma, Kishore Srinivas +7
We consider a decluttering problem where multiple rigid convex polygonal objects rest in randomly placed positions and orientations on a planar surface and must be efficiently tran…
Multi-Object Grasping in the Plane
Wisdom C. Agboh, Jeffrey Ichnowski, Ken Goldberg +1
We consider a novel problem where multiple rigid convex polygonal objects rest in randomly placed positions and orientations on a planar surface visible from an overhead camera. Th…
Robust Physics-Based Manipulation by Interleaving Open and Closed-Loop Execution
Wisdom C. Agboh, Mehmet R. Dogar
We present a planning and control framework for physics-based manipulation under uncertainty. The key idea is to interleave robust open-loop execution with closed-loop control. We…