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06/24/2023
Push-MOG: Efficient Pushing to Consolidate Polygonal Objects for Multi-Object Grasping
Recently, robots have seen rapidly increasing use in homes and warehouse...
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10/13/2022
Learning to Efficiently Plan Robust Frictional Multi-Object Grasps
We consider a decluttering problem where multiple rigid convex polygonal...
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06/01/2022
Multi-Object Grasping in the Plane
We consider the problem where multiple rigid convex polygonal objects re...
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05/18/2021
Robust Physics-Based Manipulation by Interleaving Open and Closed-Loop Execution
We present a planning and control framework for physics-based manipulati...
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11/06/2020
Occlusion-Aware Search for Object Retrieval in Clutter
We address the manipulation task of retrieving a target object from a cl...
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02/28/2020
Human-like Planning for Reaching in Cluttered Environments
Humans, in comparison to robots, are remarkably adept at reaching for ob...
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02/28/2020
Introducing a Human-like Planner for Reaching in Cluttered Environments
Humans, in comparison to robots, are remarkably adept at reaching for ob...
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03/20/2019
Combining Coarse and Fine Physics for Manipulation using Parallel-in-Time Integration
We present a method for fast and accurate physics-based predictions duri...
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10/17/2018
One-Shot Observation Learning
Observation learning is the process of learning a task by observing an e...
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07/24/2018
Real-Time Online Re-Planning for Grasping Under Clutter and Uncertainty
We consider the problem of grasping in clutter. While there have been mo...
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05/08/2018
Pushing Fast and Slow: Task-Adaptive MPC for Pushing Manipulation Under Uncertainty
We propose a model predictive control approach to pushing based manipula...
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03/21/2018
