Efficient Tableware Decluttering Using Consolidation and Multi-Object Grasps
Kishore Srinivas, Shreya Ganti, Rishi Parikh, Ayah Ahmad, Wisdom Agboh, Mehmet Dogar, Ken Goldberg
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 (henceforth referred to as "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 80% increase in OpT, compared to methods without multi-object grasps.
Contact kishoresrinivas@berkeley.edu to get more information on the project