Showing cs.ROShow all
3 papers · 1 filter
cs.RO2026
High-Performance Dual-Arm Task and Motion Planning for Tabletop Rearrangement
Duo Zhang, Junshan Huang, Jingjin Yu
We propose Synchronous Dual-Arm Rearrangement Planner (SDAR), a task and motion planning (TAMP) framework for tabletop rearrangement, where two robot arms equipped with 2-finger gr…
cs.RO2025
Asymptotically-Optimal Multi-Query Path Planning for a Polygonal Robot
Duo Zhang, Zihe Ye, Jingjin Yu
Shortest-path roadmaps, also known as reduced visibility graphs, provides a highly efficient multi-query method for computing optimal paths in two-dimensional environments. Combine…
cs.RO2024
Toward Holistic Planning and Control Optimization for Dual-Arm Rearrangement
Kai Gao, Zihe Ye, Duo Zhang +2
Long-horizon task and motion planning (TAMP) is notoriously difficult to solve, let alone optimally, due to the tight coupling between the interleaved (discrete) task and (continuo…