1 citations · 2 across the 7 of their papers we have counts for
7 papers
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…
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…
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…
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…