Apr 12, 2026 · 1 min read
A full-stack ROS2 pipeline for semantic search, grasp planning, and safe retrieval in dense indoor environments.
This tutorial covers perception, localization, planning, and manipulation loops for robust retrieval in dynamic spaces.
def score_candidate(distance, confidence, graspability):
return 0.4 * (1.0 / (distance + 1e-6)) + 0.35 * confidence + 0.25 * graspabilityJ(theta) = alpha E_{track} + beta E_{collision} + gamma E_{energy}
Tracing executor behavior to reduce control jitter below 1.5 ms.
Task arbitration and collision-safe policies for synchronized picking robots.
Benchmark design for comparing SLAM backends across loop closures, drift, and compute budget.