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Mobile manipulation tasks such as opening a door, pulling open a drawer, or lifting a toilet lid require constrained motion of the end-effector under environmental and task constraints.
The hungarian method for the assignment problem
Harold W Kuhn · 1955
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An experiment on opening-door-behavior by an autonomous mobile robot with a manipulator
Keiji Nagatani and SI Yuta · 1995
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A simple strategy for opening an unknown door
Günter Niemeyer and J-JE Slotine · 1997
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RRT-connect: An efficient approach to single-query path planning
James J Kuffner and Steven M LaValle · 2000
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High-level control of a mobile manipulator for door opening
L Peterson, David Austin, and Danica Kragic · 2000
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Detecting and modeling doors with mobile robots
Dragomir Anguelov, Daphne Koller, Evan Parker, and Sebastian Thrun · 2004
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A framework for door localization and door opening using a robotic wheelchair for people living with mobility impairments
JKT Alexander Andreopoulos and John K Tsotsos · 2007
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Behaviors for robust door opening and doorway traversal with a force-sensing mobile manipulator
Advait Jain and Charles C Kemp · 2008
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Laser-based perception for door and handle identification
R. B. Rusu, W. Meeussen, S. Chitta, and M. Beetz · 2009
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Laser-based perception for door and handle identification
Radu Bogdan Rusu, Wim Meeussen, Sachin Chitta, and Michael Beetz · 2009
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Planning for autonomous door opening with a mobile manipulator
Sachin Chitta, Benjamin Cohen, and Maxim Likhachev · 2010
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Learning to open new doors
Ellen Klingbeil, Ashutosh Saxena, and Andrew Y Ng · 2010
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Autonomous door opening and plugging in with a personal robot
Wim Meeussen, Melonee Wise, Stuart Glaser, Sachin Chitta, Conor McGann, Patrick Mihelich, Eitan Marder-Eppstein, Marius Muja, Victor Eruhimov, Tully Foote, John Hsu, Radu Bogdan Rusu, Bhaskara Marthi, Gary Bradski, Kurt Konolige, Brian Gerkey, and Eric Berger · 2010
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Task space regions: A framework for pose-constrained manipulation planning
Dmitry Berenson, Siddhartha Srinivasa, and James Kuffner · 2011
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A generalized framework for opening doors and drawers in kitchen environments
T. Ruhr, J. Sturm, D. Pangercic, M. Beetz, and D. Cremers · 2012
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The Open Motion Planning Library
Ioan A. Şucan, Mark Moll, and Lydia E. Kavraki · 2012
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Whole-body motion planning for manipulation of articulated objects
Felix Burget, Armin Hornung, and Maren Bennewitz · 2013
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Robot placement based on reachability inversion
N. Vahrenkamp, T. Asfour, and R. Dillmann · 2013
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Deep residual learning for image recognition
Kaiming He, Xiangyu Zhang, Shaoqing Ren, and Jian Sun · 2016
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An adaptive control approach for opening doors and drawers under uncertainties
Yiannis Karayiannidis, Christian Smith, Francisco Eli Vina Barrientos, Petter Ögren, and Danica Kragic · 2016
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Real-time motion planning of legged robots: A model predictive control approach
Farbod Farshidian, Edo Jelavic, Asutosh Satapathy, Markus Giftthaler, and Jonas Buchli · 2017
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Mask r-cnn
Kaiming He, Georgia Gkioxari, Piotr Dollár, and Ross Girshick · 2017
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AI2-THOR: An Interactive 3D Environment for Visual AI
Eric Kolve, Roozbeh Mottaghi, Winson Han, Eli VanderBilt, Luca Weihs, Alvaro Herrasti, Daniel Gordon, Yuke Zhu, Abhinav Gupta, and Ali Farhadi · 2017
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Modern robotics
Kevin M Lynch and Frank C Park · 2017
Category-level articulated object pose estimation
Xiaolong Li, He Wang, Li Yi, Leonidas J Guibas, A Lynn Abbott, and Shuran Song · 2020
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Perceptive model predictive control for continuous mobile manipulation
Johannes Pankert and Marco Hutter · 2020
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Learning obstacle representations for neural motion planning
Robin Strudel, Ricardo Garcia, Justin Carpentier, Jean-Paul Laumond, Ivan Laptev, and Cordelia Schmid · 2020
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Sapien: A simulated part-based interactive environment
Fanbo Xiang, Yuzhe Qin, Kaichun Mo, Yikuan Xia, Hao Zhu, Fangchen Liu, Minghua Liu, Hanxiao Jiang, Yifu Yuan, He Wang, Li Yi, Angel X. Chang, Leonidas J. Guibas, and Hao Su · 2020
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Manipulathor: A framework for visual object manipulation
Kiana Ehsani, Winson Han, Alvaro Herrasti, Eli VanderBilt, Luca Weihs, Eric Kolve, Aniruddha Kembhavi, and Roozbeh Mottaghi · 2021
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Obeying Constraints During Motion Planning
Dmitry Berenson · 2018
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Learning sampling distributions for robot motion planning
Brian Ichter, James Harrison, and Marco Pavone · 2018
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Sampling-based methods for motion planning with constraints
Zachary Kingston, Mark Moll, and Lydia E Kavraki · 2018
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Learning to generalize kinematic models to novel objects
Ben Abbatematteo, Stefanie Tellex, and George Konidaris · 2019
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Exploring implicit spaces for constrained sampling-based planning
Zachary Kingston, Mark Moll, and Lydia E. Kavraki · 2019
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PartNet: A large-scale benchmark for fine-grained and hierarchical part-level 3D object understanding
Kaichun Mo, Shilin Zhu, Angel X. Chang, Li Yi, Subarna Tripathi, Leonidas J. Guibas, and Hao Su · 2019
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Threedworld: A platform for interactive multi-modal physical simulation
Chuang Gan, Jeremy Schwartz, Seth Alter, Martin Schrimpf, James Traer, Julian De Freitas, Jonas Kubilius, Abhishek Bhandwaldar, Nick Haber, Megumi Sano, et al · 2021
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Learning kinematic feasibility for mobile manipulation through deep reinforcement learning
Daniel Honerkamp, Tim Welschehold, and Abhinav Valada · 2021
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Screwnet: Category-independent articulation model estimation from depth images using screw theory
Ajinkya Jain, Rudolf Lioutikov, Caleb Chuck, and Scott Niekum · 2021
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Where2act: From pixels to actions for articulated 3d objects
Kaichun Mo, Leonidas Guibas, Mustafa Mukadam, Abhinav Gupta, and Shubham Tulsiani · 2021
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Habitat-matterport 3d dataset (HM3D): 1000 large-scale 3d environments for embodied AI
Santhosh Kumar Ramakrishnan, Aaron Gokaslan, Erik Wijmans, Oleksandr Maksymets, Alexander Clegg, John M Turner, Eric Undersander, Wojciech Galuba, Andrew Westbury, Angel X Chang, Manolis Savva, Yili Zhao, and Dhruv Batra · 2021
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igibson 1.0: a simulation environment for interactive tasks in large realistic scenes
Bokui Shen, Fei Xia, Chengshu Li, Roberto Martín-Martín, Linxi Fan, Guanzhi Wang, Claudia Pérez-D’Arpino, Shyamal Buch, Sanjana Srivastava, Lyne Tchapmi, et al · 2021
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A unified mpc framework for whole-body dynamic locomotion and manipulation
Jean-Pierre Sleiman, Farbod Farshidian, Maria Vittoria Minniti, and Marco Hutter · 2021
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Habitat 2.0: Training home assistants to rearrange their habitat
Andrew Szot, Alex Clegg, Eric Undersander, Erik Wijmans, Yili Zhao, John Turner, Noah Maestre, Mustafa Mukadam, Devendra Chaplot, Oleksandr Maksymets, Aaron Gokaslan, Vladimir Vondrus, Sameer Dharur, Franziska Meier, Wojciech Galuba, Angel Chang, Zsolt Kira, Vladlen Koltun, Jitendra Malik, Manolis Savva, and Dhruv Batra · 2021
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Relmogen: Leveraging motion generation in reinforcement learning for mobile manipulation
Fei Xia, Chengshu Li, Roberto Martín-Martín, Or Litany, Alexander Toshev, and Silvio Savarese · 2021
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Visual identification of articulated object parts
Vicky Zeng, Timothy E Lee, Jacky Liang, and Oliver Kroemer · 2021
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Articulated object interaction in unknown scenes with whole-body mobile manipulation
Mayank Mittal, David Hoeller, Farbod Farshidian, Marco Hutter, and Animesh Garg · 2022
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VAT-Mart: Learning visual action trajectory proposals for manipulating 3d articulated objects
Ruihai Wu, Yan Zhao, Kaichun Mo, Zizheng Guo, Yian Wang, Tianhao Wu, Qingnan Fan, Xuelin Chen, Leonidas Guibas, and Hao Dong · 2022
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