4 papers · 1 filter
VOiLA: Vectorized Online Planning with Learned Diffusion Models for POMDP Agents
Marcus Hoerger, Rishikesh Joshi, Rahul Shome +2
Planning under uncertainty is an essential capability for autonomous robots. The Partially Observable Markov Decision Process (POMDP) provides a powerful framework for such a capab…
RE4: Transformation-aware Imitation of Object Interactions Using Manipulation Modes
Arsh Chawla, Rahul Shome
Object interaction tasks have been a focus of advances in imitation learning. End-to-end methods, dominated by diffusion and flow-based variants have shown leaps in performance whi…
Virtues of Ordered Chaos: Planning with Topple Actions in Tabletop Stack Rearrangement
Hao Lu, Rahul Shome
Efficient object manipulation strategies have significant impact in automation applications. In this work, the stack rearrangement in tabletop settings is studied, with a focus on…
Optimal Knock-Pick Planning for Tightly Packed Tabletop Blocks With Parallel Grippers
Hao Lu, Rahul Shome
Rearranging densely packed tabletop objects is challenging when parallel-gripper picks are infeasible without sufficient clearance around an object. This work studies the problem c…