Introduces a directed graphical abstraction for topple actions in stack rearrangement, reducing planning to a pebble motion variant and showing faster execution in simulation than pick-and-place alone.
Rearrangement of multiple movable objects-integration of global and local planning methodology,
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cs.RO 1years
2026 1verdicts
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Virtues of Ordered Chaos: Planning with Topple Actions in Tabletop Stack Rearrangement
Introduces a directed graphical abstraction for topple actions in stack rearrangement, reducing planning to a pebble motion variant and showing faster execution in simulation than pick-and-place alone.