20 papers
Embodying Multi-Hand Manipulation Policies by Searching the Assignment and Null Spaces
Yorai Shaoul, Jiaoyang Li, Maxim Likhachev
Learned manipulation policies increasingly predict motions for abstract "hands" and are attractive in practice because they rely on easily collected demonstrations and transfer acr…
MOSAIC: Skill-Centric Manipulation Planning with Physics Simulation
Itamar Mishani, Yorai Shaoul, Maxim Likhachev
Planning long-horizon manipulation motions using a set of predefined skills is a central challenge in robotics; solving it efficiently could enable general-purpose robots to tackle…
Front-to-Attractors: Modifying the Front-to-Front Heuristic in Bidirectional Search
Alvin Zou, Muhammad Suhail Saleem, Maxim Likhachev
Heuristics play a central role in the performance of bidirectional search algorithms, which commonly rely on two main classes. Front-to-end (F2E) heuristics estimate the distance f…
Constant-Time Motion Planning with Manipulation Behaviors
Nayesha Gandotra, Itamar Mishani, Maxim Likhachev
Recent progress in contact-rich robotic manipulation has been striking, yet most deployed systems remain confined to simple, scripted routines. One of the key barriers is the lack…
Conflict-Based Search as a Protocol: A Multi-Agent Motion Planning Protocol for Heterogeneous Agents, Solvers, and Independent Tasks
Rishi Veerapaneni, Alvin Tang, Haodong He +9
Imagine the future construction site, hospital, or office with dozens of robots bought from different manufacturers. How can we enable these different robots to effectively move in…
Collaborative Multi-Robot Non-Prehensile Manipulation via Flow-Matching Co-Generation
Yorai Shaoul, Zhe Chen, Mohamed Naveed Gul Mohamed +3
Coordinating a team of robots to reposition multiple objects in cluttered environments requires reasoning jointly about where robots should establish contact, how to manipulate obj…