On Minimizing the Number of Running Buffers for Tabletop Rearrangement

  title={On Minimizing the Number of Running Buffers for Tabletop Rearrangement},
  author={Kai Gao and Si Wei Feng and Jingjin Yu},
For tabletop rearrangement problems with overhand grasps, storage space outside the tabletop workspace, or buffers, can temporarily hold objects which greatly facilitates the resolution of a given rearrangement task. This brings forth the natural question of how many running buffers are required so that certain classes of tabletop rearrangement problems are feasible. In this work, we examine the problem for both the labeled (where each object has a specific goal pose) and the unlabeled (where… Expand


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