Hantao Ye

I'm a second-year Computer Science Master student at the University of Southern California. I am also a research assistant at RRoS Lab working on the robot control and simulation, advised by Dr. Satyandra K. Gupta

I'm interested in robotics, deformable object manipulation, and robot learning.

Email  /  Github  /  Linkedin

Hantao Ye

Research

Package Stowing
Simulation-Assisted Learning for Efficient Bin-Packing of Deformable Packages in a Bimanual Robotic Cell

Omey M. Manyar*, Hantao Ye*, Meghana Sagare, Siddharth Mayya, Fan Wang, Satyandra K. Gupta

IROS, 2024

[Project Page] [Paper] [Code]

Bin-packing is an important problem in the robotic warehouse domain. Traditionally, this problem has been studied only for rigid packages (e.g., boxes or rigid objects). In this work, we tackle the problem of bin-packing with deformable packages that have become a popular choice for fulfillment needs. We present a system that incorporates a dual robot arm bimanual setup, uniquely combining suction and sweeping motions to stably and reliably pack deformable packages in a bin.

Selected Projects

YOLO-V8 Based Package Segmentation and Sorting

RRoS-Lab, USC

May 2023 - August 2023

[Demo]

We developed a bimanual robotic system that utilized two robots for package handling: one for placing packages into a bin and another for stowing them, achieving an 89% success rate in 100 trials. This system integrated the Yolo v8 object detection model with the MoveIt planning interface for precise package detection and handling. Additionally, I built an offline planning database that generated optimal robotic paths, enhancing the efficiency and reliability of the operation.