# Bimanual Shelf Picking Planner Based on Collapse Prediction

arXiv: https://arxiv.org/abs/2105.14764 · HTML: https://mlsanity.com/paper/2105.14764/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 31 May 2021.

## Built on by (most cited first, 3 of 3)

- [Mechanical Search on Shelves using a Novel "Bluction" Tool](https://mlsanity.com/paper/2201.08968/) (2022)
- [A Modern Take on Visual Relationship Reasoning for Grasp Planning](https://mlsanity.com/paper/2409.02035/) (2024)
- [Trixi the Librarian](https://mlsanity.com/paper/2210.10110/) (2022)

## Abstract (arXiv)

In logistics warehouse, since many objects are randomly stacked on shelves, it becomes difficult for a robot to safely extract one of the objects without other objects falling from the shelf. In previous works, a robot needed to extract the target object after rearranging the neighboring objects. In contrast, humans extract an object from a shelf while supporting other neighboring objects. In this paper, we propose a bimanual manipulation planner based on collapse prediction trained with data generated from a physics simulator, which can safely extract a single object while supporting the other object. We confirmed that the proposed method achieves more than 80% success rate for safe extraction by real-world experiments using a dual-arm manipulator.