Object-Centric Task and Motion Planning in Dynamic Environments

12 November 2019

Papers citing "Object-Centric Task and Motion Planning in Dynamic Environments"

50 / 54 papers shown

Title
Are We Done with Object-Centric Learning? Alexander Rubinstein Ameya Prabhu Matthias Bethge Seong Joon Oh OCL 719 0 0 09 Apr 2025
Efficient Gradient-Based Inference for Manipulation Planning in Contact Factor Graphs Jeongmin Lee Sunkyung Park Minji Lee Dongjun Lee 48 0 0 08 Mar 2025
Pick-and-place Manipulation Across Grippers Without Retraining: A Learning-optimization Diffusion Policy Approach Xiangtong Yao Yirui Zhou Y. Meng Liangyu Dong Lin Hong Zitao Zhang Zhenshan Bing Kai Huang Fuchun Sun Alois C. Knoll 87 0 0 24 Feb 2025
Symbolic Disentangled Representations for Images Alexandr Korchemnyi A. Kovalev Aleksandr I. Panov OCL 51 0 0 31 Dec 2024
SPOT: SE(3) Pose Trajectory Diffusion for Object-Centric Manipulation Cheng-Chun Hsu Bowen Wen Jie Xu Yashraj S. Narang Xiaolong Wang Yuke Zhu Joydeep Biswas Stan Birchfield DiffM 45 8 0 01 Nov 2024
Affordance-Centric Policy Learning: Sample Efficient and Generalisable Robot Policy Learning using Affordance-Centric Task Frames Krishan Rana Jad Abou-Chakra Sourav Garg Robert Lee Ian Reid Niko Suenderhauf 24 4 0 15 Oct 2024
Robot See Robot Do: Imitating Articulated Object Manipulation with Monocular 4D Reconstruction Justin Kerr Chung Min Kim Mingxuan Wu Brent Yi Qianqian Wang Ken Goldberg Angjoo Kanazawa 23 14 0 26 Sep 2024
ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation Wenlong Huang Chen Wang Yong Li Ruohan Zhang Li Fei-Fei 54 95 0 03 Sep 2024
Language-Guided Object-Centric Diffusion Policy for Generalizable and Collision-Aware Robotic Manipulation Hang Li Qian Feng Zhi Zheng Jianxiang Feng Zhaopeng Chen Alois Knoll 36 1 0 29 Jun 2024
Task and Motion Planning for Execution in the Real Tianyang Pan Rahul Shome Lydia E. Kavraki 60 2 0 05 Jun 2024
Vision-based Manipulation from Single Human Video with Open-World Object Graphs Yifeng Zhu Arisrei Lim Peter Stone Yuke Zhu 41 36 0 30 May 2024
COAST: Constraints and Streams for Task and Motion Planning Brandon Vu Toki Migimatsu Jeannette Bohg 39 6 0 14 May 2024
Logic Learning from Demonstrations for Multi-step Manipulation Tasks in Dynamic Environments Yan Zhang Teng Xue Amirreza Razmjoo Sylvain Calinon 37 2 0 24 Apr 2024
Closed Loop Interactive Embodied Reasoning for Robot Manipulation Michal Nazarczuk Jan Kristof Behrens Karla Stepanova Matej Hoffmann K. Mikolajczyk LM&Ro LRM 57 1 0 23 Apr 2024
Composing Pre-Trained Object-Centric Representations for Robotics From "What" and "Where" Foundation Models Junyao Shi Jianing Qian Yecheng Jason Ma Dinesh Jayaraman OCL 45 4 0 20 Apr 2024
A Survey of Optimization-based Task and Motion Planning: From Classical To Learning Approaches Zhigen Zhao Shuo Cheng Yan Ding Ziyi Zhou Shiqi Zhang Danfei Xu Ye Zhao 46 22 0 03 Apr 2024
Robust Pushing: Exploiting Quasi-static Belief Dynamics and Contact-informed Optimization Julius Jankowski Lara Brudermüller Nick Hawes Sylvain Calinon 37 3 0 03 Apr 2024
H-MaP: An Iterative and Hybrid Sequential Manipulation Planner Berk Cicek Cankut Bora Tuncer Busenaz Kerimgil Ozgur S. Oguz 31 2 0 15 Mar 2024
Object-Centric Instruction Augmentation for Robotic Manipulation Junjie Wen Yichen Zhu Minjie Zhu Jinming Li Zhiyuan Xu ... Yaxin Peng Chaomin Shen Dong Liu Feifei Feng Jian Tang LM&Ro 69 16 0 05 Jan 2024
D-LGP: Dynamic Logic-Geometric Program for Reactive Task and Motion Planning Teng Xue Amirreza Razmjoo Sylvain Calinon 13 5 0 05 Dec 2023
Multi-Modal MPPI and Active Inference for Reactive Task and Motion Planning Yuezhe Zhang Corrado Pezzato Elia Trevisan C. Salmi C. H. Corbato Javier Alonso-Mora 14 7 0 04 Dec 2023
Object-Centric Learning with Slot Mixture Module Daniil E. Kirilenko Vitaliy Vorobyov A. Kovalev Aleksandr I. Panov OCL 31 3 0 08 Nov 2023
RoboGen: Towards Unleashing Infinite Data for Automated Robot Learning via Generative Simulation Yufei Wang Zhou Xian Feng Chen Tsun-Hsuan Wang Yian Wang Katerina Fragkiadaki Zackory M. Erickson David Held Chuang Gan LM&Ro 41 100 0 02 Nov 2023
Gen2Sim: Scaling up Robot Learning in Simulation with Generative Models Pushkal Katara Zhou Xian Katerina Fragkiadaki LM&Ro 61 39 0 27 Oct 2023
Modular Multi-Level Replanning TAMP Framework for Dynamic Environment Tao Lin Chengfei Yue Ziran Liu Xibin Cao LRM 15 2 0 23 Oct 2023
Learning Generalizable Manipulation Policies with Object-Centric 3D Representations Yifeng Zhu Zhenyu Jiang Peter Stone Yuke Zhu 3DPC 29 45 0 22 Oct 2023
Versatile Multi-Contact Planning and Control for Legged Loco-Manipulation Jean-Pierre Sleiman Farbod Farshidian Marco Hutter 23 51 0 17 Aug 2023
Symbolic State Space Optimization for Long Horizon Mobile Manipulation Planning Xiaohan Zhang Yifeng Zhu Yan Ding Yuqian Jiang Yuke Zhu Peter Stone Shiqi Zhang 47 4 0 21 Jul 2023
Energy-based Models are Zero-Shot Planners for Compositional Scene Rearrangement N. Gkanatsios Ayush Jain Zhou Xian Yunchu Zhang C. Atkeson Katerina Fragkiadaki LM&Ro 98 31 0 27 Apr 2023
Demonstration-guided Optimal Control for Long-term Non-prehensile Planar Manipulation Teng Xue Hakan Girgin Teguh Santoso Lembono Sylvain Calinon 30 16 0 24 Dec 2022
A Conflict-driven Interface between Symbolic Planning and Nonlinear Constraint Solving Joaquim Ortiz de Haro E. Karpas Michael Katz Marc Toussaint 13 10 0 28 Nov 2022
Active Task Randomization: Learning Robust Skills via Unsupervised Generation of Diverse and Feasible Tasks Kuan Fang Toki Migimatsu Ajay Mandlekar Li Fei-Fei Jeannette Bohg 49 2 0 11 Nov 2022
VIOLA: Imitation Learning for Vision-Based Manipulation with Object Proposal Priors Yifeng Zhu Abhishek Joshi Peter Stone Yuke Zhu LM&Ro 33 124 0 20 Oct 2022
Task and Motion Informed Trees (TMIT*): Almost-Surely Asymptotically Optimal Integrated Task and Motion Planning Wil Thomason Marlin P. Strub Jonathan Gammell 16 20 0 17 Oct 2022
Elly: A Real-Time Failure Recovery and Data Collection System for Robotic Manipulation Elena Galbally Adrian Piedra Cynthia Brosque O. Khatib 21 0 0 25 Aug 2022
Parallel Monte Carlo Tree Search with Batched Rigid-body Simulations for Speeding up Long-Horizon Episodic Robot Planning Baichuan Huang Abdeslam Boularias Jingjin Yu 20 9 0 14 Jul 2022
ToolTango: Common sense Generalization in Predicting Sequential Tool Interactions for Robot Plan Synthesis Shreshth Tuli Rajas Bansal Rohan Paul Mausam LM&Ro 23 4 0 18 Jun 2022
Reactive Informative Planning for Mobile Manipulation Tasks under Sensing and Environmental Uncertainty Mariliza Tzes V. Vasilopoulos Y. Kantaros George J. Pappas 11 5 0 12 May 2022
FC $^3$ : Feasibility-Based Control Chain Coordination Jason Harris Danny Driess Marc Toussaint 19 4 0 09 May 2022
Assembly Planning from Observations under Physical Constraints Thomas Chabal Robin Strudel Etienne Arlaud Jean Ponce Cordelia Schmid 22 4 0 20 Apr 2022
PLATO: Predicting Latent Affordances Through Object-Centric Play Suneel Belkhale Dorsa Sadigh OffRL 30 13 0 10 Mar 2022
Sequence-of-Constraints MPC: Reactive Timing-Optimal Control of Sequential Manipulation Marc Toussaint Jason Harris Jung-Su Ha Danny Driess Wolfgang Hönig 16 27 0 10 Mar 2022
Learning Goal-Oriented Non-Prehensile Pushing in Cluttered Scenes Nils Dengler D. Grossklaus Maren Bennewitz 19 16 0 04 Mar 2022
GraspARL: Dynamic Grasping via Adversarial Reinforcement Learning Tianhao Wu Fangwei Zhong Yiran Geng Hongchen Wang Yongjian Zhu Yizhou Wang Hao Dong 27 8 0 04 Mar 2022
Visually Grounded Task and Motion Planning for Mobile Manipulation Xiaohan Zhang Yifeng Zhu Yan Ding Yuke Zhu Peter Stone Shiqi Zhang 21 20 0 22 Feb 2022
Learning to Search in Task and Motion Planning with Streams M. Khodeir Ben Agro Florian Shkurti 32 26 0 25 Nov 2021
Long-Horizon Multi-Robot Rearrangement Planning for Construction Assembly Valentin N. Hartmann A. Orthey Danny Driess Ozgur S. Oguz Marc Toussaint 24 87 0 04 Jun 2021
Reactive Task and Motion Planning under Temporal Logic Specifications Shen Li Daehyung Park Yoonchang Sung J. Shah Nicholas Roy 20 42 0 26 Mar 2021
Generalizing Object-Centric Task-Axes Controllers using Keypoints Mohit Sharma Oliver Kroemer 28 6 0 18 Mar 2021
Joint Space Control via Deep Reinforcement Learning Visak C. V. Kumar David Hoeller Balakumar Sundaralingam Jonathan Tremblay Stan Birchfield DRL 25 15 0 12 Nov 2020