A task-oriented robotic system organizes heterogeneous planar objects on desks using perception-augmented datasets and environment-assisted manipulation primitives such as contact grasping, edge push-grasping, and levering.
Monte-carlo tree search for efficien t visu- ally guided rearrangement planning,
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Robotic Desk Organization: A Multi-Primitive Approach to Manipulating Heterogeneous Objects via Environmental Constraints
A task-oriented robotic system organizes heterogeneous planar objects on desks using perception-augmented datasets and environment-assisted manipulation primitives such as contact grasping, edge push-grasping, and levering.