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• W2996550774 abstract "In this work, we address a planar non-prehensile sorting task. Here, a robot needs to push many densely packed objects belonging to different classes into a configuration where these classes are clearly separated from each other. To achieve this, we propose to employ Monte Carlo tree search equipped with a task-specific heuristic function. We evaluate the algorithm on various simulated and real-world sorting tasks. We observe that the algorithm is capable to reliably sort large numbers of convex and non-convex objects, as well as convex objects in the presence of immovable obstacles." @default.
• W2996550774 created "2019-12-26" @default.
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• W2996550774 date "2019-12-15" @default.
• W2996550774 modified "2023-10-14" @default.
• W2996550774 title "Multi-Object Rearrangement with Monte Carlo Tree Search:A Case Study on Planar Nonprehensile Sorting" @default.
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• W2996550774 doi "https://doi.org/10.48550/arxiv.1912.07024" @default.
• W2996550774 hasPublicationYear "2019" @default.
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