1 citations · 2 across the 10 of their papers we have counts for
10 papers
Coordinated Motion Planning for Multi-Arm Systems via Iterative LQ Games
Junyoung Kim, Hanwen Ren, Lei Zhang +1
Multi-agent motion planning for high-degree-of-freedom robotics manipulators in shared workspaces remains a fundamental yet challenging problem. Centralized planners often suffer f…
Multi-Agent Monte Carlo Tree Search for Makespan-Efficient Object Rearrangement in Cluttered Spaces
Hanwen Ren, Junyong Kim, Aathman Tharmasanthiran +1
Object rearrangement planning in complex, cluttered environments is a common challenge in warehouses, households, and rescue sites. Prior studies largely address monotone instances…
Multimodal Human-Intent Modeling for Contextual Robot-to-Human Handovers of Arbitrary Objects
Lucas Chen, Guna Avula, Hanwen Ren +2
Human-robot object handover is a crucial element for assistive robots that aim to help people in their daily lives, including elderly care, hospitals, and factory floors. The exist…
Physics-informed Neural Time Fields for Prehensile Object Manipulation
Hanwen Ren, Ruiqi Ni, Ahmed H. Qureshi
Object manipulation skills are necessary for robots operating in various daily-life scenarios, ranging from warehouses to hospitals. They allow the robots to manipulate the given o…
Integrating Active Sensing and Rearrangement Planning for Efficient Object Retrieval from Unknown, Confined, Cluttered Environments
Junyong Kim, Hanwen Ren, Ahmed H. Qureshi
Retrieving target objects from unknown, confined spaces remains a challenging task that requires integrated, task-driven active sensing and rearrangement planning. Previous approac…
Neural Rearrangement Planning for Object Retrieval from Confined Spaces Perceivable by Robot's In-hand RGB-D Sensor
Hanwen Ren, Ahmed H. Qureshi
Rearrangement planning for object retrieval tasks from confined spaces is a challenging problem, primarily due to the lack of open space for robot motion and limited perception. Se…
Language-guided Active Sensing of Confined, Cluttered Environments via Object Rearrangement Planning
Weihan Chen, Hanwen Ren, Ahmed H. Qureshi
Language-guided active sensing is a robotics subtask where a robot with an onboard sensor interacts efficiently with the environment via object manipulation to maximize perceptual…
Multi-Stage Monte Carlo Tree Search for Non-Monotone Object Rearrangement Planning in Narrow Confined Environments
Hanwen Ren, Ahmed H. Qureshi
Non-monotone object rearrangement planning in confined spaces such as cabinets and shelves is a widely occurring but challenging problem in robotics. Both the robot motion and the…
CoGrasp: 6-DoF Grasp Generation for Human-Robot Collaboration
Abhinav K. Keshari, Hanwen Ren, Ahmed H. Qureshi
Robot grasping is an actively studied area in robotics, mainly focusing on the quality of generated grasps for object manipulation. However, despite advancements, these methods do…
Robot Active Neural Sensing and Planning in Unknown Cluttered Environments
Hanwen Ren, Ahmed H. Qureshi
Active sensing and planning in unknown, cluttered environments is an open challenge for robots intending to provide home service, search and rescue, narrow-passage inspection, and…