93 citations · 194 across the 51 of their papers we have counts for
6 papers · 2 filters
Complexity Results and Fast Methods for Optimal Tabletop Rearrangement with Overhand Grasps
Shuai D Han, Nicholas M Stiffler, Athanasios Krontiris +2
This paper studies the underlying combinatorial structure of a class of object rearrangement problems, which appear frequently in applications. The problems involve multiple, simil…
Improving 6D Pose Estimation of Objects in Clutter via Physics-aware Monte Carlo Tree Search
Chaitanya Mitash, Abdeslam Boularias, Kostas E. Bekris
This work proposes a process for efficiently searching over combinations of individual object 6D pose hypotheses in cluttered scenes, especially in cases involving occlusions and o…
Fast Model Identification via Physics Engines for Data-Efficient Policy Search
Shaojun Zhu, Andrew Kimmel, Kostas E. Bekris +1
This paper presents a method for identifying mechanical parameters of robots or objects, such as their mass and friction coefficients. Key features are the use of off-the-shelf phy…
Efficient, High-Quality Stack Rearrangement
Shuai D. Han, Nicholas M. Stiffler, Kostas E. Bekris +1
This work studies rearrangement problems involving the sorting of robots or objects in stack-like containers, which can be accessed only from one side. Two scenarios are considered…
High-Quality Tabletop Rearrangement with Overhand Grasps: Hardness Results and Fast Methods
Shuai D. Han, Nicholas M. Stiffler, Athansios Krontiris +2
This paper studies the underlying combinatorial structure of a class of object rearrangement problems, which appear frequently in applications. The problems involve multiple, simil…
A Self-supervised Learning System for Object Detection using Physics Simulation and Multi-view Pose Estimation
Chaitanya Mitash, Kostas E. Bekris, Abdeslam Boularias
Progress has been achieved recently in object detection given advancements in deep learning. Nevertheless, such tools typically require a large amount of training data and signific…