Dual-Arm Tabletop Rearrangement with Movable Stacking and Gap-Aware Push Transfers

Mohammadreza Firoozalizadeh, Zakiye Rostamirad, Arman Barghi +3

Object rearrangement in cluttered tabletop scenes is challenging, especially in wide workspaces where dual-arm systems improve coverage and efficiency. Limited free space often nec…