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Safe and Effective Picking Paths in Clutter given Discrete Distributions of Object Poses

Aug 11, 2020
Rui Wang, Chaitanya Mitash, Shiyang Lu, Daniel Boehm, Kostas E. Bekris

* 8 pages. Accepted to International Conference on Intelligent Robots and Systems (IROS) 2020 

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se(3)-TrackNet: Data-driven 6D Pose Tracking by Calibrating Image Residuals in Synthetic Domains

Jul 27, 2020
Bowen Wen, Chaitanya Mitash, Baozhang Ren, Kostas E. Bekris

* International Conference on Intelligent Robots and Systems (IROS) 2020 

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Synchronized Multi-Arm Rearrangement Guided by Mode Graphs with Capacity Constraints

May 18, 2020
Rahul Shome, Kostas E. Bekris


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Robust, Occlusion-aware Pose Estimation for Objects Grasped by Adaptive Hands

Mar 07, 2020
Bowen Wen, Chaitanya Mitash, Sruthi Soorian, Andrew Kimmel, Avishai Sintov, Kostas E. Bekris

* IEEE International Conference on Robotics and Automation (ICRA) 2020 

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Asymptotically Optimal Sampling-based Planners

Nov 11, 2019
Kostas E. Bekris, Rahul Shome


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RRT2.0 for Fast and Optimal Kinodynamic Sampling-Based Motion Planning

Sep 13, 2019
Michal Kleinbort, Kiril Solovey, Riccardo Bonalli, Kostas E. Bekris, Dan Halperin


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Towards Learning Efficient Maneuver Sets for Kinodynamic Motion Planning

Jul 18, 2019
Aravind Sivaramakrishnan, Zakary Littlefield, Kostas E. Bekris


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Anytime Multi-arm Task and Motion Planning for Pick-and-Place of Individual Objects via Handoffs

May 08, 2019
Rahul Shome, Kostas E. Bekris


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Pushing the Boundaries of Asymptotic Optimality for Sampling-based Roadmaps In Motion And Task Planning

Mar 19, 2019
Rahul Shome, Kostas E. Bekris

* We have identified an error in one of the lemmas of the paper, which we intend to correct. While we affirm the remainder of the paper is unaffected by this error, we would like to opportunity to retract the submission in its current form. It would be very helpful indeed if this is possible 

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dRRT*: Scalable and Informed Asymptotically-Optimal Multi-Robot Motion Planning

Mar 03, 2019
Rahul Shome, Kiril Solovey, Andrew Dobson, Dan Halperin, Kostas E. Bekris

* Autonomous Robots, January 2019 

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Towards Robust Product Packing with a Minimalistic End-Effector

Mar 03, 2019
Rahul Shome, Wei N. Tang, Changkyu Song, Chaitanya Mitash, Hristiyan Kourtev, Jingjin Yu, Abdeslam Boularias, Kostas E. Bekris


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Adaptive Tensegrity Locomotion on Rough Terrain via Reinforcement Learning

Sep 27, 2018
David Surovik, Kun Wang, Kostas E. Bekris

* submitted to ICRA 2019 

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Probabilistic completeness of RRT for geometric and kinodynamic planning with forward propagation

Sep 19, 2018
Michal Kleinbort, Kiril Solovey, Zakary Littlefield, Kostas E. Bekris, Dan Halperin


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Fast Model Identification via Physics Engines for Data-Efficient Policy Search

Jun 13, 2018
Shaojun Zhu, Andrew Kimmel, Kostas E. Bekris, Abdeslam Boularias

* IJCAI 18 

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Efficient Model Identification for Tensegrity Locomotion

Apr 12, 2018
Shaojun Zhu, David Surovik, Kostas E. Bekris, Abdeslam Boularias


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Improving 6D Pose Estimation of Objects in Clutter via Physics-aware Monte Carlo Tree Search

Oct 24, 2017
Chaitanya Mitash, Abdeslam Boularias, Kostas E. Bekris

* 8 pages, 4 figures 

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Analysis and Observations from the First Amazon Picking Challenge

Sep 22, 2017
Nikolaus Correll, Kostas E. Bekris, Dmitry Berenson, Oliver Brock, Albert Causo, Kris Hauser, Kei Okada, Alberto Rodriguez, Joseph M. Romano, Peter R. Wurman


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A Self-supervised Learning System for Object Detection using Physics Simulation and Multi-view Pose Estimation

Aug 03, 2017
Chaitanya Mitash, Kostas E. Bekris, Abdeslam Boularias

* 7 pages, 6 figures, accepted at the IEEE International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, 2017 

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Scalable Asymptotically-Optimal Multi-Robot Motion Planning

Jul 03, 2017
Andrew Dobson, Kiril Solovey, Rahul Shome, Dan Halperin, Kostas E. Bekris

* 8 pages, 12 figures, submitted to the first International Symposium on Multi-Robot and Multi-Agent Systems (MRS) 

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Efficient, High-Quality Stack Rearrangement

Jun 29, 2017
Shuai D. Han, Nicholas M. Stiffler, Kostas E. Bekris, Jingjin Yu

* MRS 2017 submission with appendices 

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High-Quality Tabletop Rearrangement with Overhand Grasps: Hardness Results and Fast Methods

Jun 20, 2017
Shuai D. Han, Nicholas M. Stiffler, Athansios Krontiris, Kostas E. Bekris, Jingjin Yu

* Updated manuscript 

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A Dataset for Improved RGBD-based Object Detection and Pose Estimation for Warehouse Pick-and-Place

Feb 20, 2016
Colin Rennie, Rahul Shome, Kostas E. Bekris, Alberto F. De Souza

* To appear in RA-L 

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Asymptotically Optimal Sampling-based Kinodynamic Planning

Feb 05, 2016
Yanbo Li, Zakary Littlefield, Kostas E. Bekris


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Sampling-based Roadmap Planners are Probably Near-Optimal after Finite Computation

Apr 08, 2014
Andrew Dobson, George V. Moustakides, Kostas E. Bekris

* 17 pages, 5 figures, 3 tables. Submitted to the Eleventh International Workshop on the Algorithmic Foundations of Robotics (WAFR 2014) 

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