Conference PaperOptimal and Stable Multi-Layer Object Rearrangement on a TabletopXu, Andy; Gao, Kai; Feng, Si Wei; Yu, JingjinIEEE2023-10-01104938782023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)2078 to 2085978-1-6654-9190-7https://doi.org/10.1109/IROS55552.2023.103424461845888; 2132972Detroit, MI, USANational Science Foundation