The problem of planning for a robot that operates in environments containing a large
number of objects, taking actions to move itself through the world as well as to change the …

Sampling-based motion planning is one of the fundamental paradigms to generate robot
motions, and a cornerstone of robotics research. This comparative review provides an up-to …

Abstract We introduce Habitat 2.0 (H2. 0), a simulation platform for training virtual robots in
interactive 3D environments and complex physics-enabled scenarios. We make …

Loco-manipulation planning skills are pivotal for expanding the utility of robots in everyday
environments. These skills can be assessed on the basis of a system's ability to coordinate …

Multi-objective optimization problems are ubiquitous in robotics, eg, the optimization of a
robot manipulation task requires a joint consideration of grasp pose configurations …

There has been an increasing interest in mobile manipulators that are capable of performing
physical work in living spaces worldwide, corresponding to an aging population with …

Motion planning is a fundamental research area in robotics. Sampling-based methods offer
an efficient solution for what is otherwise a rather challenging dilemma of path planning …

We explore a novel method to perceive and manipulate 3D articulated objects that
generalizes to enable a robot to articulate unseen classes of objects. We propose a vision …

One of the fundamental fields of research is motion planning. Mobile manipulators present a
unique set of challenges for the planning algorithms, as they are usually kinematically …

Hierarchical least-square optimization is often used in robotics to inverse a direct function
when multiple incompatible objectives are involved. Typical examples are inverse …