Mechanical Search on Shelves: Efficient Stacking and Destacking

This lecture presents a paper on Mechanical Search on Shelves with Efficient Stacking and Destacking of Objects, focusing on the optimization of object retrieval from cluttered environments. The framework assumes stable poses of objects and aims to reveal the target using minimal actions. Various policies like DARSS and MCTSSS are discussed, along with related works and physical evaluations using a Fetch robot. The lecture emphasizes rearrangement, stacking, and destacking techniques, as well as the 'Bluction' tool combining a pushing blade and suction cup for efficient search. Simulation evaluations and occupancy distribution analysis are also covered.