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We present a planner for large-scale (un)labeled object sorting tasks, whichuses two types of manipulation actions: overhead grasping and planar pushing.The grasping action offers completeness guarantee under mild assumptions, andplanar pushing is an acceleration strategy that moves multiple objects at once.Our main contribution is twofold: (1) We propose a bilevel planning algorithm.Our high-level planner makes efficient, near-optimal choices between pushingand grasping actions based on a cost model. Our low-level planner computesone-step greedy pushing or grasping actions. (2) We propose a novel low-levelpush planner that can find one-step greedy pushing actions in a semi-discretesearch space. The structure of the search space allows us to efficient We showthat, for sorting up to $200$ objects, our planner can find near-optimalactions with $10$ seconds of computation on a desktop machine.

Decision Making in Joint Push-Grasp Action Space for Large-Scale Object Sorting