43 citations · 64 across the 27 of their papers we have counts for
27 papers
Optimal and Stable Multi-Layer Object Rearrangement on a Tabletop
Andy Xu, Kai Gao, Si Wei Feng +1
Object rearrangement is a fundamental sub-task in accomplishing a great many physical tasks. As such, effectively executing rearrangement is an important skill for intelligent robo…
Effectively Rearranging Heterogeneous Objects on Cluttered Tabletops
Kai Gao, Justin Yu, Tanay Sandeep Punjabi +1
Effectively rearranging heterogeneous objects constitutes a high-utility skill that an intelligent robot should master. Whereas significant work has been devoted to the grasp synth…
Efficient Heuristics for Multi-Robot Path Planning in Crowded Environments
Teng Guo, Jingjin Yu
Optimal Multi-Robot Path Planning (MRPP) has garnered significant attention due to its many applications in domains including warehouse automation, transportation, and swarm roboti…
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…
Optimal Allocation of Many Robot Guards for Sweep-Line Coverage
Si Wei Feng, Teng Guo, Jingjin Yu
We study the problem of allocating many mobile robots for the execution of a pre-defined sweep schedule in a known two-dimensional environment, with applications toward search and…
Toward Efficient Physical and Algorithmic Design of Automated Garages
Teng Guo, Jingjin Yu
Parking in large metropolitan areas is often a time-consuming task with further implications toward traffic patterns that affect urban landscaping. Reducing the premium space neede…
Effective and Robust Non-Prehensile Manipulation via Persistent Homology Guided Monte-Carlo Tree Search
Ewerton R. Vieira, Kai Gao, Daniel Nakhimovich +2
Performing object retrieval in real-world workspaces must tackle challenges including \emph{uncertainty} and \emph{clutter}. One option is to apply prehensile operations, which can…
On the Utility of Buffers in Pick-n-Swap Based Lattice Rearrangement
Kai Gao, Jingjin Yu
We investigate the utility of employing multiple buffers in solving a class of rearrangement problems with pick-n-swap manipulation primitives. In this problem, objects stored rand…
Robot Motion Planning as Video Prediction: A Spatio-Temporal Neural Network-based Motion Planner
Xiao Zang, Miao Yin, Lingyi Huang +3
Neural network (NN)-based methods have emerged as an attractive approach for robot motion planning due to strong learning capabilities of NN models and their inherently high parall…
Toward Efficient Task Planning for Dual-Arm Tabletop Object Rearrangement
Kai Gao, Jingjin Yu
We investigate the problem of coordinating two robot arms to solve non-monotone tabletop multi-object rearrangement tasks. In a non-monotone rearrangement task, complex object-obje…
Parallel Monte Carlo Tree Search with Batched Rigid-body Simulations for Speeding up Long-Horizon Episodic Robot Planning
Baichuan Huang, Abdeslam Boularias, Jingjin Yu
We propose a novel Parallel Monte Carlo tree search with Batched Simulations (PMBS) algorithm for accelerating long-horizon, episodic robotic planning tasks. Monte Carlo tree searc…
Interleaving Monte Carlo Tree Search and Self-Supervised Learning for Object Retrieval in Clutter
Baichuan Huang, Teng Guo, Abdeslam Boularias +1
In this study, working with the task of object retrieval in clutter, we have developed a robot learning framework in which Monte Carlo Tree Search (MCTS) is first applied to enable…
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…
Stackelberg Strategic Guidance for Heterogeneous Robots Collaboration
Yuhan Zhao, Baichuan Huang, Jingjin Yu +1
In this study, we explore the application of game theory, in particular Stackelberg games, to address the issue of effective coordination strategy generation for heterogeneous robo…
Sub-1.5 Time-Optimal Multi-Robot Path Planning on Grids in Polynomial Time
Teng Guo, Jingjin Yu
Graph-based multi-robot path planning (MRPP) is NP-hard to optimally solve. In this work, we propose the first low polynomial-time algorithm for MRPP achieving 1--1.5 asymptotic op…
Barrier Forming: Separating Polygonal Sets with Minimum Number of Lines
Si Wei Feng, Jingjin Yu
In this work, we carry out structural and algorithmic studies of a problem of barrier forming: selecting theminimum number of straight line segments (barriers) that separate severa…
Fast High-Quality Tabletop Rearrangement in Bounded Workspace
Kai Gao, Darren Lau, Baichuan Huang +2
In this paper, we examine the problem of rearranging many objects on a tabletop in a cluttered setting using overhand grasps. Efficient solutions for the problem, which capture a c…
Optimizing Space Utilization for More Effective Multi-Robot Path Planning
Shuai D. Han, Jingjin Yu
We perform a systematic exploration of the principle of Space Utilization Optimization (SUO) as a heuristic for planning better individual paths in a decoupled multi-robot path pla…
Capacitated Vehicle Routing with Target Geometric Constraints
Kai Gao, Jingjin Yu
We investigate the capacitated vehicle routing problem (CVRP) under a robotics context, where a vehicle with limited payload must complete delivery (or pickup) tasks to serve a set…
On Minimizing the Number of Running Buffers for Tabletop Rearrangement
Kai Gao, Si Wei Feng, Jingjin Yu
For tabletop rearrangement problems with overhand grasps, storage space outside the tabletop workspace, or buffers, can temporarily hold objects which greatly facilitates the resol…
Rearrangement on Lattices with Pick-n-Swaps: Optimality Structures and Efficient Algorithms
Jingjin Yu
We study a class of rearrangement problems under a novel pick-n-swap prehensile manipulation model, in which a robotic manipulator, capable of carrying an item and making item swap…
Visual Foresight Trees for Object Retrieval from Clutter with Nonprehensile Rearrangement
Baichuan Huang, Shuai D. Han, Jingjin Yu +1
This paper considers the problem of retrieving an object from many tightly packed objects using a combination of robotic pushing and grasping actions. Object retrieval in dense clu…
Spatial and Temporal Splitting Heuristics for Multi-Robot Motion Planning
Teng Guo, Shuai D. Han, Jingjin Yu
In this work, we systematically examine the application of spatio-temporal splitting heuristics to the Multi-Robot Motion Planning (MRMP) problem in a graph-theoretic setting: a pr…