Svetlana Levit

2 accepted papers

2025

Regrasp Maps for Sequential Manipulation Planning

IROS 2025

We consider manipulation problems in constrained and cluttered settings, which require several regrasps at unknown locations. We propose to inform an optimization-based task and motion planning (TAMP) solver with possible regrasp areas and grasp sequences to speed up the search. Our main idea is to

Cited by 1 Source ↗Scholar ↗

2024

Solving Sequential Manipulation Puzzles by Finding Easier Subproblems

Svetlana Levit, Joaquim Ortiz-Haro, Marc Toussaint

ICRA 2024poster

We consider a set of challenging sequential manipulation puzzles, where an agent has to interact with multiple movable objects and navigate narrow passages. Such settings are notoriously difficult for Task-and-Motion Planners, as they require interdependent regrasps and solving hard motion planning…

Cited by 4 Source ↗code ↗Scholar ↗