2023/12/11 by Shrutheesh R. Iyer, Anwesan Pal, Iyer, Shrutheesh R. +9
Engineering · Psychology · #FOS: Computer and information sciences #Robot Manipulation and Learning #Robotics (cs.RO) #Robotics and Automated Systems #Social Robot Interaction and HRI
paper · pdf · doi:10.48550/arxiv.2312.06129
openalex publication_date 2023/12/11 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
We consider the problem of building an assistive robotic system that can help humans in daily household cleanup tasks. Creating such an autonomous system in real-world environments is inherently quite challenging, as a general solution may not suit the preferences of a particular customer. Moreover, such a system consists of multi-objective tasks comprising -- (i) Detection of misplaced objects and prediction of their potentially correct placements, (ii) Fine-grained manipulation for stable object grasping, and (iii) Room-to-room navigation for transferring objects in unseen environments. This work systematically tackles each component and integrates them into a complete object rearrangement pipeline. To validate our proposed system, we conduct multiple experiments on a real robotic platform involving multi-room object transfer, user preference-based placement, and complex pick-and-place tasks. Project page: https://sites.google.com/eng.ucsd.edu/home-robot