47 citations · 86 across the 6 of their papers we have counts for
8 papers
LENS: LLM-guided Environment Simplification for Planning and Control in Clutter
Aileen Liao, Rachel Holladay, Dinesh Jayaraman +1
Despite recent advances in general-purpose robotic manipulation, real-world multi-object clutter remains challenging to handle for today's prevalent approaches. The problem scales…
Robust Planning for Multi-stage Forceful Manipulation
Rachel Holladay, Tomás Lozano-Pérez, Alberto Rodriguez
Multi-step forceful manipulation tasks, such as opening a push-and-twist childproof bottle, require a robot to make various planning choices that are substantially impacted by the…
Planning for Multi-stage Forceful Manipulation
Rachel Holladay, Tomás Lozano-Pérez, Alberto Rodriguez
Multi-stage forceful manipulation tasks, such as twisting a nut on a bolt, require reasoning over interlocking constraints over discrete as well as continuous choices. The robot mu…
Integrated Task and Motion Planning
Caelan Reed Garrett, Rohan Chitnis, Rachel Holladay +4
The problem of planning for a robot that operates in environments containing a large number of objects, taking actions to move itself through the world as well as to change the sta…
In-Hand Manipulation via Motion Cones
Nikhil Chavan-Dafle, Rachel Holladay, Alberto Rodriguez
In this paper, we present the mechanics and algorithms to compute the set of feasible motions of an object pushed in a plane. This set is known as the motion cone and was previousl…
Minimizing Task Space Frechet Error via Efficient Incremental Graph Search
Rachel Holladay, Oren Salzman, Siddhartha Srinivasa
We present an anytime algorithm that generates a collision-free configuration-space path that closely follows a desired path in task space, according to the discrete Frechet distan…
Robotic Pick-and-Place of Novel Objects in Clutter with Multi-Affordance Grasping and Cross-Domain Image Matching
Andy Zeng, Shuran Song, Kuan-Ting Yu +18
This paper presents a robotic pick-and-place system that is capable of grasping and recognizing both known and novel objects in cluttered environments. The key new feature of the s…
A New Paradigm for Robotic Dust Collection: Theorems, User Studies, and a Field Study
Rachel M. Holladay, Siddhartha S. Srinivasa
We pioneer a new future in robotic dust collection by introducing passive dust-collecting robots that, unlike their predecessors, do not require locomotion to collect dust. While p…