Toward Structured Plan Exploration for Multi-Object Rearrangement
Friday, December 10, 2021, 01:00pm
Speaker: Kao Gao
Location : Via Zoom
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.
Rutgers University School of Arts and Sciences
Contact Kai Gao