{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,3]],"date-time":"2026-08-03T13:44:37Z","timestamp":1785764677357,"version":"3.56.0"},"reference-count":19,"publisher":"Frontiers Media SA","license":[{"start":{"date-parts":[[2026,3,11]],"date-time":"2026-03-11T00:00:00Z","timestamp":1773187200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["frontiersin.org"],"crossmark-restriction":true},"short-container-title":["Front. Robot. AI"],"abstract":"<jats:p>\n                    In modern smart factories, automated shelf picking must deliver high throughput, flexibility, and safe human\u2013robot collaboration. In these environments, efficient and safe retrieval of stacked objects is a significant challenge due to complex spatial dependencies and structural inter-dependencies. Traditional vision-based methods excel at object localization but often lack the physical reasoning required to predict the consequences of extraction, leading to unintended collisions and collapses. This paper proposes a collapse and collision-aware grasp planner that integrates dynamic physics simulations for robotic decision-making. Using a single image and depth map, an approximate 3D representation of the scene is reconstructed in a simulation environment, enabling the robot to evaluate different retrieval strategies before execution. Two approaches: 1) heuristic-based and 2) physics-based are proposed for both single-box extraction and shelf clearance tasks. Extensive real-world experiments on structured and unstructured box stacks, along with validation using datasets from existing databases, show that our physics-aware method significantly improves efficiency and success rates compared to baseline heuristics. A video demonstrating the real-world implementation of our proposed system is available at:\n                    <jats:ext-link>https:\/\/youtu.be\/GBWMiNIHUlU<\/jats:ext-link>\n                    .\n                  <\/jats:p>","DOI":"10.3389\/frobt.2026.1697561","type":"journal-article","created":{"date-parts":[[2026,3,11]],"date-time":"2026-03-11T05:35:52Z","timestamp":1773207352000},"update-policy":"https:\/\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":1,"title":["Collapse and collision aware grasping for cluttered shelf picking"],"prefix":"10.3389","volume":"13","author":[{"given":"Abhinav","family":"Pathak","sequence":"first","affiliation":[{"name":"Robotics Lab, Dubai Future Labs","place":["Dubai, United Arab Emirates"]},{"name":"Birla Institute of Technology and Science","place":["Dubai, United Arab Emirates"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kalaichelvi","family":"Venkatesan","sequence":"additional","affiliation":[{"name":"Birla Institute of Technology and Science","place":["Dubai, United Arab Emirates"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Tarek","family":"Taha","sequence":"additional","affiliation":[{"name":"Robotics Lab, Dubai Future Labs","place":["Dubai, United Arab Emirates"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Rajkumar","family":"Muthusamy","sequence":"additional","affiliation":[{"name":"Robotics Lab, Dubai Future Labs","place":["Dubai, United Arab Emirates"]}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1965","published-online":{"date-parts":[[2026,3,11]]},"reference":[{"key":"B1","article-title":"Physics-informed computer vision: a review and perspectives","author":"Banerjee","year":"2024"},{"key":"B2","doi-asserted-by":"crossref","DOI":"10.1109\/IROS40897.2019.8967717","article-title":"Learning physics-based manipulation in clutter: combining image-based generalization and look-ahead planning","author":"Bejjani","year":"2019"},{"key":"B3","doi-asserted-by":"crossref","DOI":"10.1109\/IROS51168.2021.9636230","article-title":"Occlusion-aware search for object retrieval in clutter","author":"Bejjani","year":"2021"},{"key":"B4","doi-asserted-by":"publisher","first-page":"289","DOI":"10.1109\/tro.2013.2289018","article-title":"Data-driven grasp Synthesis\u2014A survey","volume":"30","author":"Bohg","year":"2014","journal-title":"IEEE Trans. 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Syst."},{"key":"B12","doi-asserted-by":"crossref","first-page":"510","DOI":"10.1109\/CASE49439.2021.9551507","article-title":"Bimanual shelf picking planner based on collapse prediction","volume-title":"2021 IEEE 17th international conference on automation science and engineering (CASE)","author":"Motoda","year":"2021"},{"key":"B13","doi-asserted-by":"publisher","first-page":"104","DOI":"10.3390\/robotics11050104","article-title":"Shelf replenishment based on object arrangement detection and collapse prediction for bimanual manipulation","volume":"11","author":"Motoda","year":"2022","journal-title":"Robotics"},{"key":"B14","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1109\/access.2023.3273289","article-title":"Multi-step object extraction planning from clutter based on support relations","author":"Motoda","year":"2023","journal-title":"IEEE Access"},{"key":"B15","doi-asserted-by":"crossref","DOI":"10.15607\/RSS.2023.XIX.063","article-title":"Progressive learning for physics-informed neural motion planning","author":"Ni","year":"2023"},{"key":"B16","doi-asserted-by":"publisher","first-page":"686","DOI":"10.1016\/j.jcp.2018.10.045","article-title":"Physics-informed neural networks: a deep learning framework for solving forward and inverse problems involving nonlinear partial differential equations","volume":"378","author":"Raissi","year":"2019","journal-title":"J. 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