Optimal Knock-Pick Planning for Tightly Packed Tabletop Blocks With Parallel Grippers

In three linesStudies rearrangement of densely packed tabletop objects with parallel grippers. Introduces a directional knock primitive to overcome infeasible direct picks. Formulates optimal knock-pick problem and proposes abstractions with maximum-weight perfect matching for polynomial-time computation of action-minimizing plans. Validated in simulation (IsaacSim).

Summary generated by Claude — human-verified