Approaches and Challenges in Robotic Perception for Table-top Rearrangement and Planning

Aditya Agarwal; Bipasha Sen; Brojeshwar Bhowmick; K Madhava Krishna; Shankara Narayanan V; Vishal Reddy Mandadi

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arxiv 2205.04090 v2 pith:LPZWBVHT submitted 2022-05-09 cs.RO

Approaches and Challenges in Robotic Perception for Table-top Rearrangement and Planning

Aditya Agarwal , Bipasha Sen , Shankara Narayanan V , Vishal Reddy Mandadi , Brojeshwar Bhowmick , K Madhava Krishna This is my paper

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keywords perceptiontablechallengesplanningrearrangementstacktable-topapproaches

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Table-top Rearrangement and Planning is a challenging problem that relies heavily on an excellent perception stack. The perception stack involves observing and registering the 3D scene on the table, detecting what objects are on the table, and how to manipulate them. Consequently, it greatly influences the system's task-planning and motion-planning stacks that follow. We present a comprehensive overview and discuss the different challenges associated with the perception module. This work is a result of our extensive involvement in the ICRA 2022 Open Cloud Robot Table Organization Challenge, in which we stood third in the final rankings.

Approaches and Challenges in Robotic Perception for Table-top Rearrangement and Planning

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