Srinivas, K., Ganti, S., Parikh, R. et al. (4 more authors) (2023) The Busboy Problem: Efficient Tableware Decluttering Using Consolidation and Multi-Object Grasps. In: Proceedings of 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE). 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE), 26-30 Aug 2023, Auckland, New Zealand. IEEE ISBN 9798350320695
Abstract
We present the “Busboy Problem”: automating an efficient decluttering of cups, bowls, and silverware from a planar surface. As grasping and transporting individual items is highly inefficient, we propose policies to generate grasps for multiple items. We introduce the metric of Objects per Trip (OpT) carried by the robot to the collection bin to analyze the improvement seen as a result of our policies. In physical experiments with singulated items, we find that consolidation and multi-object grasps resulted in an 1.8x improvement in OpT, compared to methods without multi-object grasps. See https://sites.google.com/berkeley.edu/busboyproblem for code and supplemental materials.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Computing (Leeds) |
Funding Information: | Funder Grant number EPSRC (Engineering and Physical Sciences Research Council) EP/V052659/1 |
Depositing User: | Symplectic Publications |
Date Deposited: | 31 Oct 2023 14:38 |
Last Modified: | 31 Oct 2023 14:38 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/case56687.2023.10260474 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:204706 |