4 papers · 1 filter
Hybrid Residual Reinforcement Learning for Contact-Rich Robotic Book Insertion
Tianyuan Liu, Rutherford Agbeshi Patamia, Benjamin Champion +2
Placing a grasped book into a tight shelf is a compact but difficult contact-rich control problem: millimetre-scale pose error can turn a geometrically valid approach into jamming,…
Execution-Aware Pre-Execution Ranking for Grasp-Conditioned Robotic Placement
Tianyuan Liu, Rutherford Agbeshi Patamia, Benjamin Champion +2
A geometrically valid placement can still be difficult to execute because the selected grasp changes the required end-effector pose, collision geometry, and transport motion. Place…
Optimizing Robotic Placement via Grasp-Dependent Feasibility Prediction
Tianyuan Liu, Richard Dazeley, Benjamin Champion +1
In this paper, we study whether inexpensive, physics-free supervision can reliably prioritize grasp-place candidates for budget-aware pick-and-place. From an object's initial pose,…
Virtual Traffic Lights for Multi-Robot Navigation: Decentralized Planning with Centralized Conflict Resolution
Sagar Gupta, Thanh Vinh Nguyen, Thieu Long Phan +8
We present a hybrid multi-robot coordination framework that combines decentralized path planning with centralized conflict resolution. In our approach, each robot autonomously plan…