Integrated Task and Motion Planning

2 October 2020

Tomás Lozano-Pérez

Papers citing "Integrated Task and Motion Planning"

50 / 308 papers shown

Title
Conformal Temporal Logic Planning using Large Language Models Jun Wang J. Tong Kai Liang Tan Yevgeniy Vorobeychik Y. Kantaros LM&Ro 65 20 0 18 Sep 2023
Asynchronous Task Plan Refinement for Multi-Robot Task and Motion Planning Yoonchang Sung Rahul Shome Peter Stone 27 0 0 16 Sep 2023
Learning Sequential Acquisition Policies for Robot-Assisted Feeding Priya Sundaresan Jiajun Wu Dorsa Sadigh LM&Ro 29 10 0 11 Sep 2023
Predictive and Robust Robot Assistance for Sequential Manipulation Theodoros Stouraitis Michael Gienger 26 3 0 08 Sep 2023
Pre- and post-contact policy decomposition for non-prehensile manipulation with zero-shot sim-to-real transfer Minchan Kim Junhyek Han Jaehyung Kim Beomjoon Kim 27 17 0 06 Sep 2023
Structural Concept Learning via Graph Attention for Multi-Level Rearrangement Planning Manav Kulshrestha A. H. Qureshi 3DPC 64 6 0 05 Sep 2023
Compositional Diffusion-Based Continuous Constraint Solvers Zhutian Yang Jiayuan Mao Yilun Du Jiajun Wu J. Tenenbaum Tomás Lozano-Pérez L. Kaelbling DiffM 86 34 0 02 Sep 2023
ISR-LLM: Iterative Self-Refined Large Language Model for Long-Horizon Sequential Task Planning Zhehua Zhou Jiayang Song Kunpeng Yao Zhan Shu Lei Ma 30 58 0 26 Aug 2023
Skill Transformer: A Monolithic Policy for Mobile Manipulation Xiaoyu Huang Dhruv Batra Akshara Rai Andrew Szot LM&Ro 43 21 0 19 Aug 2023
Versatile Multi-Contact Planning and Control for Legged Loco-Manipulation Jean-Pierre Sleiman Farbod Farshidian Marco Hutter 23 51 0 17 Aug 2023
Learning Type-Generalized Actions for Symbolic Planning Daniel Tanneberg Michael Gienger 25 4 0 09 Aug 2023
Primitive Skill-based Robot Learning from Human Evaluative Feedback Ayano Hiranaka Minjune Hwang Sharon Lee Chen Wang Li Fei-Fei Jiajun Wu Ruohan Zhang OffRL 13 11 0 28 Jul 2023
Scaling Up and Distilling Down: Language-Guided Robot Skill Acquisition Huy Ha Peter R. Florence Shuran Song LM&Ro 49 151 0 26 Jul 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 52 4 0 21 Jul 2023
Reparameterized Policy Learning for Multimodal Trajectory Optimization Zhiao Huang Litian Liang Z. Ling Xuanlin Li Chuang Gan H. Su 43 11 0 20 Jul 2023
Multi-Stage Cable Routing through Hierarchical Imitation Learning Jianlan Luo Charles Xu Xinyang Geng Gilbert Feng Kuan Fang L. Tan S. Schaal Sergey Levine 43 53 0 18 Jul 2023
Embodied Lifelong Learning for Task and Motion Planning Jorge Armando Mendez Mendez L. Kaelbling Tomás Lozano-Pérez 39 17 0 13 Jul 2023
Meta-Policy Learning over Plan Ensembles for Robust Articulated Object Manipulation Constantinos Chamzas Caelan Reed Garrett Balakumar Sundaralingam Lydia E. Kavraki Dieter Fox 23 1 0 08 Jul 2023
Deep Predictive Learning: Motion Learning Concept inspired by Cognitive Robotics Kanata Suzuki Hiroshi Ito Tatsuro Yamada Kei Kase Tetsuya Ogata 37 12 0 26 Jun 2023
DiMSam: Diffusion Models as Samplers for Task and Motion Planning under Partial Observability Xiaolin Fang Caelan Reed Garrett Clemens Eppner Tomás Lozano-Pérez L. Kaelbling Dieter Fox DiffM 35 17 0 22 Jun 2023
HomeRobot: Open-Vocabulary Mobile Manipulation Sriram Yenamandra A. Ramachandran Karmesh Yadav Austin S. Wang Mukul Khanna ... Devendra Singh Chaplot Dhruv Batra Roozbeh Mottaghi Yonatan Bisk Chris Paxton LM&Ro 54 79 0 20 Jun 2023
Hybrid and Oriented Harmonic Potentials for Safe Task Execution in Unknown Environment Shuaikang Wang Meng Guo 16 0 0 13 Jun 2023
AutoTAMP: Autoregressive Task and Motion Planning with LLMs as Translators and Checkers Yongchao Chen Jacob Arkin Charles Dawson Yang Zhang Nicholas Roy Chuchu Fan LRM 24 95 0 10 Jun 2023
Simultaneous Trajectory Optimization and Contact Selection for Multi-Modal Manipulation Planning Mengchao Zhang Devesh K. Jha A. Raghunathan Kris K. Hauser 19 12 0 10 Jun 2023
iPLAN: Intent-Aware Planning in Heterogeneous Traffic via Distributed Multi-Agent Reinforcement Learning Xiyang Wu Rohan Chandra Tianrui Guan Amrit Singh Bedi Tianyi Zhou 45 4 0 09 Jun 2023
Robot Task Planning Based on Large Language Model Representing Knowledge with Directed Graph Structures Zhen Yue Bi Sheng Xing-tong Lu Wei-qin Pan Hai-peng Shi Zi-Yuan Chen Yi-shu Fang LLMAG LM&Ro 43 8 0 08 Jun 2023
Integrating Action Knowledge and LLMs for Task Planning and Situation Handling in Open Worlds Yan Ding Xiaohan Zhang S. Amiri Nieqing Cao Hao Yang Andy Kaminski Chad Esselink Shiqi Zhang LM&Ro 40 49 0 27 May 2023
Multi-Stage Monte Carlo Tree Search for Non-Monotone Object Rearrangement Planning in Narrow Confined Environments Hanwen Ren A. H. Qureshi 25 1 0 26 May 2023
Imitating Task and Motion Planning with Visuomotor Transformers Murtaza Dalal Ajay Mandlekar Caelan Reed Garrett Ankur Handa Ruslan Salakhutdinov Dieter Fox 60 54 0 25 May 2023
Large Language Models as Commonsense Knowledge for Large-Scale Task Planning Zirui Zhao W. Lee David Hsu LRM LLMAG LM&Ro 46 202 0 23 May 2023
Latent Space Planning for Multi-Object Manipulation with Environment-Aware Relational Classifiers Yixuan Huang Nichols Crawford Taylor Adam Conkey Weiyu Liu Tucker Hermans 44 7 0 18 May 2023
Motion Planning (In)feasibility Detection using a Prior Roadmap via Path and Cut Search Yoonchang Sung Peter Stone 25 3 0 17 May 2023
RAMP: A Benchmark for Evaluating Robotic Assembly Manipulation and Planning J. Collins Mark Robson Jun Yamada Mohan Sridharan Karol Janik Ingmar Posner 45 14 0 16 May 2023
Learning to Reason over Scene Graphs: A Case Study of Finetuning GPT-2 into a Robot Language Model for Grounded Task Planning Georgia Chalvatzaki A. Younes Daljeet Nandha An T. Le Leonardo F. R. Ribeiro Iryna Gurevych LM&Ro LRM LLMAG 30 30 0 12 May 2023
Anticipatory Planning: Improving Long-Lived Planning by Estimating Expected Cost of Future Tasks Roshan Dhakal Md Ridwan Hossain Talukder Gregory J. Stein 27 3 0 08 May 2023
A Closer Look at Reward Decomposition for High-Level Robotic Explanations Wenhao Lu Xufeng Zhao S. Magg M. Gromniak Mengdi Li S. Wermter 40 7 0 25 Apr 2023
Differentiable Task Assignment and Motion Planning Jimmy Envall Roi Poranne Stelian Coros 29 4 0 19 Apr 2023
Integrating Reconfigurable Foot Design, Multi-modal Contact Sensing, and Terrain Classification for Bipedal Locomotion Ted Tyler Vaibhav Malhotra Adam Montague Zhigen Zhao Frank L. Hammond Ye Zhao 38 1 0 19 Apr 2023
CabiNet: Scaling Neural Collision Detection for Object Rearrangement with Procedural Scene Generation Adithyavairavan Murali Arsalan Mousavian Clemens Eppner Adam Fishman Dieter Fox OCL 3DPC LM&Ro 28 22 0 18 Apr 2023
ASC: Adaptive Skill Coordination for Robotic Mobile Manipulation Naoki Yokoyama Alexander Clegg Joanne Truong Eric Undersander Tsung-Yen Yang Sergio Arnaud Sehoon Ha Dhruv Batra Akshara Rai 28 35 0 01 Apr 2023
Optimal task and motion planning and execution for human-robot multi-agent systems in dynamic environments M. Faroni A. Umbrico M. Beschi Andrea Orlandini A. Cesta N. Pedrocchi 11 14 0 27 Mar 2023
Text2Motion: From Natural Language Instructions to Feasible Plans Kevin Qinghong Lin Christopher Agia Toki Migimatsu Marco Pavone Jeannette Bohg LM&Ro 31 268 0 21 Mar 2023
Efficient Learning of High Level Plans from Play Núria Armengol Urpí Marco Bagatella Otmar Hilliges Georg Martius Stelian Coros OffRL 32 3 0 16 Mar 2023
Cherry-Picking with Reinforcement Learning : Robust Dynamic Grasping in Unstable Conditions Yunchu Zhang Liyiming Ke Abhay Deshpande Abhishek Gupta S. Srinivasa OffRL 19 8 0 09 Mar 2023
PDSketch: Integrated Planning Domain Programming and Learning Jiayuan Mao Tomás Lozano-Pérez J. Tenenbaum L. Kaelbling 34 3 0 09 Mar 2023
A Reachability Tree-Based Algorithm for Robot Task and Motion Planning Kanghyun Kim Daehyung Park Min Jun Kim 26 5 0 07 Mar 2023
Object Reconfiguration with Simulation-Derived Feasible Actions Yiyuan Lee Wil Thomason Zachary Kingston Lydia E. Kavraki AI4CE 30 3 0 27 Feb 2023
A Supervisory Learning Control Framework for Autonomous & Real-time Task Planning for an Underactuated Cooperative Robotic task Sander De Witte Tom Lefebvre Thijs Van Hauwermeiren Guillaume Crevecoeur 21 0 0 22 Feb 2023
DiSProD: Differentiable Symbolic Propagation of Distributions for Planning Palash Chatterjee Ashutosh Chapagain Weizhe (Wesley) Chen Roni Khardon 16 1 0 03 Feb 2023
Search-Based Task and Motion Planning for Hybrid Systems: Agile Autonomous Vehicles Zlatan Ajanović Enrico Regolin Barys Shyrokau Hana Ćatić M. Horn A. Ferrara 26 18 0 25 Jan 2023