1 citations · 1 across the 14 of their papers we have counts for
14 papers
PEEL: Parallel Extraction for Long-Horizon Disassembly Planning via Scale-Invariant Sampling
Servet B. Bayraktar, Andreas Orthey, Zachary Kingston +1
Long-horizon multi-part object disassembly requires robots to compute feasible sequences of collision-free removal motions, even in the presence of tight, narrow escape corridors.…
Coordinated Multi-Robot Disassembly for Makespan Optimization of Large-Scale Assemblies
Niklas Hargus, Andreas Orthey, Marc Toussaint
Multi-robot task and motion planning for disassembly tasks requires robots to operate in confined workspaces while coordinating their motions with other robots. To tackle this prob…
PhyRoGen: Synthetic Generation of Physical Robot Manipulation Puzzles Using Procedural Content Generation
Lennart Julian Droß, Andreas Orthey, Marc Toussaint
Robot manipulation of physical puzzles is important for automatic assembly and disassembly tasks. However, to enable robots to solve physical puzzles, manipulation skills need to b…
Optimizing Trajectory-Trees in Belief Space: An Application from Model Predictive Control to Task and Motion Planning
Camille Phiquepal, Marc Toussaint
This paper explores the benefits of computing arborescent trajectories (trajectory-trees) instead of commonly used sequential trajectories for partially observable robotic planning…
Scale-Invariant Sampling in Multi-Arm Bandit Motion Planning for Object Extraction
Servet B. Bayraktar, Andreas Orthey, Marc Toussaint
Object extraction tasks often occur in disassembly problems, where bolts, screws, or pins have to be removed from tight, narrow spaces. In such problems, the distance to the enviro…
Stability-Guided Exploration for Diverse Motion Generation
Eckart Cobo-Briesewitz, Tilman Burghoff, Denis Shcherba +2
Scaling up datasets is highly effective in improving the performance of deep learning models, including in the field of robot learning. However, data collection still proves to be…
CrazyMARL: Decentralized Direct Motor Control Policies for Cooperative Aerial Transport of Cable-Suspended Payloads
Viktor Lorentz, Khaled Wahba, Sayantan Auddy +2
Collaborative transportation of cable-suspended payloads by teams of UAVs has the potential to enhance payload capacity, adapt to different payload shapes, and provide built-in com…
GSRM: Building Roadmaps for Query-Efficient and Near-Optimal Path Planning Using a Reaction Diffusion System
Christian Henkel, Marc Toussaint, Wolfgang Hönig
Mobile robots frequently navigate on roadmaps, i.e., graphs where edges represent safe motions, in applications such as healthcare, hospitality, and warehouse automation. Often the…
NLP Sampling: Combining MCMC and NLP Methods for Diverse Constrained Sampling
Marc Toussaint, Cornelius V. Braun, Joaquim Ortiz-Haro
Generating diverse samples under hard constraints is a core challenge in many areas. With this work we aim to provide an integrative view and framework to combine methods from the…
Solving Sequential Manipulation Puzzles by Finding Easier Subproblems
Svetlana Levit, Joaquim Ortiz-Haro, Marc Toussaint
We consider a set of challenging sequential manipulation puzzles, where an agent has to interact with multiple movable objects and navigate narrow passages. Such settings are notor…
iDb-RRT: Sampling-based Kinodynamic Motion Planning with Motion Primitives and Trajectory Optimization
Joaquim Ortiz-Haro, Wolfgang Hönig, Valentin N. Hartmann +2
Rapidly-exploring Random Trees (RRT) and its variations have emerged as a robust and efficient tool for finding collision-free paths in robotic systems. However, adding dynamic con…
Global Safe Sequential Learning via Efficient Knowledge Transfer
Cen-You Li, Olaf Duennbier, Marc Toussaint +2
Sequential learning methods, such as active learning and Bayesian optimization, aim to select the most informative data for task learning. In many applications, however, data selec…
iDb-A*: Iterative Search and Optimization for Optimal Kinodynamic Motion Planning
Joaquim Ortiz-Haro, Wolfgang Hoenig, Valentin N. Hartmann +1
Motion planning for robotic systems with complex dynamics is a challenging problem. While recent sampling-based algorithms achieve asymptotic optimality by propagating random contr…
Kinodynamic Motion Planning for a Team of Multirotors Transporting a Cable-Suspended Payload in Cluttered Environments
Khaled Wahba, Joaquim Ortiz-Haro, Marc Toussaint +1
We propose a motion planner for cable-driven payload transportation using multiple unmanned aerial vehicles (UAVs) in an environment cluttered with obstacles. Our planner is kinody…