4 papers
Toward Holistic Planning and Control Optimization for Dual-Arm Rearrangement
Kai Gao, Zihe Ye, Duo Zhang +2
Long-horizon task and motion planning (TAMP) is notoriously difficult to solve, let alone optimally, due to the tight coupling between the interleaved (discrete) task and (continuo…
EARL: Eye-on-Hand Reinforcement Learner for Dynamic Grasping with Active Pose Estimation
Baichuan Huang, Jingjin Yu, Siddarth Jain
In this paper, we explore the dynamic grasping of moving objects through active pose tracking and reinforcement learning for hand-eye coordination systems. Most existing vision-bas…
Learning Generalizable Pivoting Skills
Xiang Zhang, Siddarth Jain, Baichuan Huang +2
The skill of pivoting an object with a robotic system is challenging for the external forces that act on the system, mainly given by contact interaction. The complexity increases w…
Minimizing Running Buffers for Tabletop Object Rearrangement: Complexity, Fast Algorithms, and Applications
Kai Gao, Si Wei Feng, Baichuan Huang +1
For rearranging objects on tabletops with overhand grasps, temporarily relocating objects to some buffer space may be necessary. This raises the natural question of how many simult…