Multi-Object Rearrangement with Monte Carlo Tree Search: A Case Study on Planar Nonprehensile Sorting
Haoran Song,Joshua A. Haustein,Weihao Yuan,Kaiyu Hang,Michael Yu Wang,Danica Kragic,Johannes A. Stork,Haoran Song,Joshua A. Haustein,Weihao Yuan,Kaiyu Hang,Michael Yu Wang,Danica Kragic,Johannes A. Stork
In this work, we address a planar non-prehensile sorting task. Here, a robot needs to push many densely packed objects belonging to different classes into a configuration where these classes are clearly separated from each other. To achieve this, we propose to employ Monte Carlo tree search equipped with a task-specific heuristic function. We evaluate the algorithm on various simulated and real-wo...
