3 papers
cs.RO2026
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.…
cs.RO2026
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…
cs.RO2022
Solving Rearrangement Puzzles using Path Defragmentation in Factored State Spaces
Servet B. Bayraktar, Andreas Orthey, Zachary Kingston +2
Rearrangement puzzles are variations of rearrangement problems in which the elements of a problem are potentially logically linked together. To efficiently solve such puzzles, we d…