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Task-driven Perception and Manipulation for Constrained Placement of Unknown Objects

Jun 28, 2020
Chaitanya Mitash, Rahul Shome, Bowen Wen, Abdeslam Boularias, Kostas Bekris

* 8 pages, 8 figures, RA-L and 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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That and There: Judging the Intent of Pointing Actions with Robotic Arms

Dec 13, 2019
Malihe Alikhani, Baber Khalid, Rahul Shome, Chaitanya Mitash, Kostas Bekris, Matthew Stone

* Accepted to AAAI 2020, New York City 

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Asymptotically Optimal Sampling-based Planners

Nov 11, 2019
Kostas E. Bekris, Rahul Shome


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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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Fast, Anytime Motion Planning for Prehensile Manipulation in Clutter

Feb 11, 2019
Andrew Kimmel, Rahul Shome, Zakary Littlefield, Kostas Bekris


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Fast, High-Quality Dual-Arm Rearrangement in Synchronous, Monotone Tabletop Setups

Oct 29, 2018
Rahul Shome, Kiril Solovey, Jingjin Yu, Kostas Bekris, Dan Halperin

* Extended version of a submission at The 13th International Workshop on the Algorithmic Foundations of Robotics, 2018 

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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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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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Similar Part Rearrangement With Pebble Graphs

Apr 25, 2014
Athanasios Krontiris, Rahul Shome, Andrew Dobson, Andrew Kimmel, Issac Yochelson, Kostas Bekris

* 11 pages 

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