Persistent Homology for Effective Non-Prehensile Manipulation

Vieira, Ewerton R.; Nakhimovich, Daniel; Gao, Kai; Wang, Rui; Yu, Jingjin; Bekris, Kostas E.

doi:10.48550/arxiv.2202.02937

Cited by 2 publications

(2 citation statements)

References 41 publications

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“…i.e., using grasping, in contrast to non-prehensile primitives, such as pushing(King et al 2015;King, Ranganeni, and Srinivasa 2017;Papallas and Dogar 2020;Vieira et al 2022).Proceedings of the Thirty-Second International Conference on Automated Planning and Scheduling(ICAPS 2022) …”

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confidence: 99%

Lazy Rearrangement Planning in Confined Spaces

Wang¹,

Gao²,

Yu³

et al. 2022

ICAPS

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Object rearrangement is important for many applications but remains challenging, especially in confined spaces, such as shelves, where objects cannot be accessed from above and they block reachability to each other. Such constraints require many motion planning and collision checking calls, which are computationally expensive. In addition, the arrangement space grows exponentially with the number of objects. To address these issues, this work introduces a lazy evaluation framework with a local monotone solver and a global planner. Monotone instances are those that can be solved by moving each object at most once. A key insight is that reachability constraints at the grasps for objects' starts and goals can quickly reveal dependencies between objects without having to execute expensive motion planning queries. Given that, the local solver builds lazily a search tree that respects these reachability constraints without verifying that the arm paths are collision free. It only collision checks when a promising solution is found. If a monotone solution is not found, the non-monotone planner loads the lazy search tree and explores ways to move objects to intermediate locations from where monotone solutions to the goal can be found. Results show that the proposed framework can solve difficult instances in confined spaces with up to 16 objects, which state-of-the-art methods fail to solve. It also solves problems faster than alternatives, when the alternatives find a solution. It also achieves high-quality solutions, i.e., only 1.8 additional actions on average are needed for non-monotone instances.

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mentioning

confidence: 99%

Lazy Rearrangement Planning in Confined Spaces

Wang¹,

Gao²,

Yu³

et al. 2022

ICAPS

Self Cite

View full text Add to dashboard Cite

show abstract

“…i.e., using grasping, in contrast to non-prehensile primitives, such as pushing(King et al 2015;King, Ranganeni, and Srinivasa 2017;Papallas and Dogar 2020;Vieira et al 2022). …”

mentioning

confidence: 99%

Lazy Rearrangement Planning in Confined Spaces

Wang¹,

Gao²,

Yu³

et al. 2022

Preprint

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Object rearrangement is important for many applications but remains challenging, especially in confined and cluttered spaces, such as shelves, where objects cannot be easily accessed from above and they block reachability to each other. Such constraints require making many motion planning and collision checking calls, which are computationally expensive. In addition, the arrangement space (space of possible object placements) grows exponentially with the number of objects. To address these issues, this work introduces a lazy evaluation framework for object rearrangement in confined spaces. The framework improves upon a local monotone solver, which extends to a high-quality planner for the general, non-monotone case. Monotone instances are those that can be solved by moving each object at most once. A key insight is that reachability constraints at the grasps for the objects' starts and goals can quickly reveal dependencies between objects without having to execute expensive motion planning queries. The local solver builds lazily a search tree that respects these reachability constraints without verifying that the arm paths are collision free. It only collision checks when a promising solution is found given grasp reachability. If a monotone solution is not found, the non-monotone planner loads the lazy search tree and explores ways to move objects to intermediate locations from where monotone solutions to the goal can be found. The non-monotone planner also applies lazy evaluation to minimize collision checking. Comprehensive simulations and robot demonstrations show that the proposed framework can solve difficult instances in confined spaces with up to 16 objects, which state-of-the-art methods fail to solve. It also achieves high-quality solutions, i.e., only 1.8 additional actions on average are needed for cluttered non-monotone instances. It also solves problems faster than alternatives, when the alternatives find a solution.

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Persistent Homology for Effective Non-Prehensile Manipulation

Cited by 2 publications

References 41 publications

Lazy Rearrangement Planning in Confined Spaces

Lazy Rearrangement Planning in Confined Spaces

Lazy Rearrangement Planning in Confined Spaces

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