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cs.RO2025
SeGMan: Sequential and Guided Manipulation Planner for Robust Planning in 2D Constrained Environments
Cankut Bora Tuncer, Dilruba Sultan Haliloglu, Ozgur S. Oguz
In this paper, we present SeGMan, a hybrid motion planning framework that integrates sampling-based and optimization-based techniques with a guided forward search to address comple…
cs.RO2024
Interpretable Responsibility Sharing as a Heuristic for Task and Motion Planning
Arda Sarp Yenicesu, Sepehr Nourmohammadi, Berk Cicek +1
This article introduces a novel heuristic for Task and Motion Planning (TAMP) named Interpretable Responsibility Sharing (IRS), which enhances planning efficiency in domestic robot…
cs.RO2023
FViT-Grasp: Grasping Objects With Using Fast Vision Transformers
Arda Sarp Yenicesu, Berk Cicek, Ozgur S. Oguz
This study addresses the challenge of manipulation, a prominent issue in robotics. We have devised a novel methodology for swiftly and precisely identifying the optimal grasp point…