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cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
Minimizing Running Buffers for Tabletop Object Rearrangem...
Kai Gao, Si Wei Feng, Baichuan Huang, Jingjin Yu · 2023-04-04 · via cs.RO updates on arXiv.org

For rearranging objects on tabletops with overhand grasps, temporarily relocating objects to some buffer space may be necessary. This raises the natural question of how many simultaneous storage spaces, or "running buffers", are required so that certain classes of tabletop rearrangement problems are feasible. In this work, we examine the problem for both labeled and unlabeled settings. On the structural side, we observe that finding the minimum number of running buffers (MRB) can be carried out on a dependency graph abstracted from a problem instance, and show that computing MRB is NP-hard. We then prove that under both labeled and unlabeled settings, even for uniform cylindrical objects, the number of required running buffers may grow unbounded as the number of objects to be rearranged increases. We further show that the bound for the unlabeled case is tight. On the algorithmic side, we develop effective exact algorithms for finding MRB for both labeled and unlabeled tabletop rearrangement problems, scalable to over a hundred objects under very high object density. More importantly, our algorithms also compute a sequence witnessing the computed MRB that can be used for solving object rearrangement tasks. Employing these algorithms, empirical evaluations reveal that random labeled and unlabeled instances, which more closely mimics real-world setups, generally have fairly small MRBs. Using real robot experiments, we demonstrate that the running buffer abstraction leads to state-of-the-art solutions for in-place rearrangement of many objects in tight, bounded workspace.