Tootfinder

Multi-Robot Vision-Based Task and Motion Planning for EV Battery Disassembly and Sorting
Abdelaziz Shaarawy, Cansu Erdogan, Rustam Stolkin, Alireza Rastegarpanah
https://arxiv.org/abs/2509.21020

Multi-Robot Vision-Based Task and Motion Planning for EV Battery Disassembly and Sorting
Electric-vehicle (EV) battery disassembly requires precise multi-robot coordination, short and reliable motions, and robust collision safety in cluttered, dynamic scenes. We propose a four-layer task-and-motion planning (TAMP) framework that couples symbolic task planning and cost- and accessibility-aware allocation with a TP-GMM-guided motion planner learned from demonstrations. Stereo vision with YOLOv8 provides real-time component localization, while OctoMap-based 3D mapping and FCL(Flexible…

Utilizing Vision-Language Models as Action Models for Intent Recognition and Assistance
Cesar Alan Contreras, Manolis Chiou, Alireza Rastegarpanah, Michal Szulik, Rustam Stolkin
https://arxiv.org/abs/2508.11093

Utilizing Vision-Language Models as Action Models for Intent Recognition and Assistance
Human-robot collaboration requires robots to quickly infer user intent, provide transparent reasoning, and assist users in achieving their goals. Our recent work introduced GUIDER, our framework for inferring navigation and manipulation intents. We propose augmenting GUIDER with a vision-language model (VLM) and a text-only language model (LLM) to form a semantic prior that filters objects and locations based on the mission prompt. A vision pipeline (YOLO for object detection and the Segment An…