Efficient and High-quality Prehensile Rearrangement in Cluttered and Confined Spaces
Rui Wang,Yinglong Miao,Kostas E. Bekris,Rui Wang,Yinglong Miao,Kostas E. Bekris
Prehensile object rearrangement in cluttered and confined spaces has broad applications but is also challenging. For instance, rearranging products in a grocery shelf means that the robot cannot directly access all objects and has limited free space. This is harder than tabletop rearrangement where objects are easily accessible with top-down grasps, which simplifies robot-object interactions. This...
