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.
Synchronized multi-arm rearrangement guided by mode graphs with capacity constraints,
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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.