CS Events

Qualifying Exam

Toward Structured Plan Exploration for Multi-Object Rearrangement

 

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Friday, December 10, 2021, 01:00pm

 

Speaker: Kao Gao

Location : Via Zoom

Committee

Jingjin Yu

Kostas Bekris

Abdeslam Boularias

Aaron Bernstein

Event Type: Qualifying Exam

Abstract: With practical applications in both industrial automation and home automation, object rearrangement is a topic of interest in the broader area of task and motion planning. In this problem, a robot arm moves objects one at a time from current positions to specified goal positions. To avoid collisions, some objects need to be moved before others or even be temporarily displaced to open space. Therefore, to compute feasible rearrangement plans, one needs to not only determine the ordering of object manipulations but also allocate clearings for temporary object displacements. In this talk, we investigate this problem with different objectives. We first present structural properties of the problem, which include upper and lower bounds of objectives. Second, we introduce fast algorithms for object rearrangement in different setups. Extensive experiments show that our algorithms outperform state-of-the-art methods in both computation time and solution quality under various practical scenarios.

Organization

Rutgers University School of Arts and Sciences

Contact  Kai Gao

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