Fast High-Quality Tabletop Rearrangement in Bounded Workspace
Kai Gao,Darren Lau,Baichuan Huang,Kostas E. Bekris,Jingjin Yu,Kai Gao,Darren Lau,Baichuan Huang,Kostas E. Bekris,Jingjin Yu
In this paper, we examine the problem of rearranging many objects on a tabletop in a cluttered setting using overhand grasps. Efficient solutions for the problem, which capture a common task that we solve on a daily basis, are essential in enabling truly intelligent robotic manipulation. In a given instance, objects may need to be placed at temporary positions (“buffers”) to complete the rearrange...
