8 papers · 1 filter
Joint Task Assistance Planning via Nested Branch and Bound (Extended Version)
Omer Daube, Oren Salzman
We introduce and study the Joint Task Assistance Planning problem which generalizes prior work on optimizing assistance in robotic collaboration. In this setting, two robots operat…
Offline Task Assistance Planning on a Graph:Theoretic and Algorithmic Foundations
Eitan Bloch, Oren Salzman
In this work we introduce the problem of task assistance planning where we are given two robots Rtask and Rassist. The first robot, Rtask, is in charge of performing a given task b…
Provably Constant-time Planning and Replanning for Real-time Grasping Objects off a Conveyor Belt
Fahad Islam, Oren Salzman, Aditya Agarwal +1
In warehouse and manufacturing environments, manipulation platforms are frequently deployed at conveyor belts to perform pick and place tasks. Because objects on the conveyor belts…
Provably Constant-time Planning and Replanning for Real-time Grasping Objects off a Conveyor Belt
Fahad Islam, Oren Salzman, Aditya Agarwal +1
In warehouse and manufacturing environments, manipulation platforms are frequently deployed at conveyor belts to perform pick and place tasks. Because objects on the conveyor belts…
Task-Informed Fidelity Management for Speeding Up Robotics Simulation
Abhijeet Tallavajhula, Adrian Schoisengeier, Sung-Kyun Kim +3
Simulators are an important tool in robotics that is used to develop robot software and generate synthetic data for machine learning algorithms. Faster simulation can result in bet…
Planning, Learning and Reasoning Framework for Robot Truck Unloading
Fahad Islam, Anirudh Vemula, Sung-Kyun Kim +3
We consider the task of autonomously unloading boxes from trucks using an industrial manipulator robot. There are multiple challenges that arise: (1) real-time motion planning for…