Integrated Task and Motion Planning

2 October 2020

Tomás Lozano-Pérez

Papers citing "Integrated Task and Motion Planning"

50 / 308 papers shown

Title
Effective Baselines for Multiple Object Rearrangement Planning in Partially Observable Mapped Environments Engin Tekin Elaheh Barati Nitin Kamra Ruta Desai 14 1 0 24 Jan 2023
Comparison of Model-Free and Model-Based Learning-Informed Planning for PointGoal Navigation Yimeng Li Arnab Debnath Gregory J. Stein Jana Kosecka 3DPC 49 3 0 17 Dec 2022
Task-Directed Exploration in Continuous POMDPs for Robotic Manipulation of Articulated Objects Aidan Curtis L. Kaelbling Siddarth Jain 41 9 0 08 Dec 2022
Solving Rearrangement Puzzles using Path Defragmentation in Factored State Spaces Servet B. Bayraktar A. Orthey Zachary Kingston Marc Toussaint Lydia E. Kavraki 16 5 0 06 Dec 2022
A Conflict-driven Interface between Symbolic Planning and Nonlinear Constraint Solving Joaquim Ortiz de Haro E. Karpas Michael Katz Marc Toussaint 21 10 0 28 Nov 2022
Multi-Arm Bin-Picking in Real-Time: A Combined Task and Motion Planning Approach Ilyes Toumi A. Orthey Alexander von Rohr Ngo Anh Vien 34 2 0 20 Nov 2022
CAPE: Corrective Actions from Precondition Errors using Large Language Models S. S. Raman Vanya Cohen Ifrah Idrees Eric Rosen Ray Mooney Stefanie Tellex D. Paulius LLMAG VLM 31 28 0 17 Nov 2022
Learning to Correct Mistakes: Backjumping in Long-Horizon Task and Motion Planning Yoonchang Sung Zizhao Wang Peter Stone 21 3 0 15 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
Sequence-Based Plan Feasibility Prediction for Efficient Task and Motion Planning Zhutian Yang Caelan Reed Garrett Tomás Lozano-Pérez Leslie Kaelbling Dieter Fox 26 25 0 03 Nov 2022
Long-HOT: A Modular Hierarchical Approach for Long-Horizon Object Transport S. Narayanan Dinesh Jayaraman Manmohan Chandraker 24 1 0 28 Oct 2022
Policy-Guided Lazy Search with Feedback for Task and Motion Planning M. Khodeir Atharv Sonwane Ruthrash Hari Florian Shkurti 41 6 0 25 Oct 2022
LEAGUE: Guided Skill Learning and Abstraction for Long-Horizon Manipulation Shuo Cheng Danfei Xu 61 37 0 23 Oct 2022
Learning Feasibility of Factored Nonlinear Programs in Robotic Manipulation Planning Joaquim Ortiz de Haro Jung-Su Ha Danny Driess E. Karpas Marc Toussaint 32 2 0 22 Oct 2022
STAP: Sequencing Task-Agnostic Policies Christopher Agia Toki Migimatsu Jiajun Wu Jeannette Bohg 45 19 0 21 Oct 2022
Hierarchical Model-Based Imitation Learning for Planning in Autonomous Driving Eli Bronstein Mark Palatucci Dominik Notz Brandyn White Alex Kuefler ... Punit Shah Evan Racah Benjamin Frenkel Shimon Whiteson Drago Anguelov 50 58 0 18 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
Learning Skills from Demonstrations: A Trend from Motion Primitives to Experience Abstraction Mehrdad Tavassoli S. Katyara Maria Pozzi Nikhil Deshpande D. Caldwell D. Prattichizzo 38 11 0 14 Oct 2022
Abstract-to-Executable Trajectory Translation for One-Shot Task Generalization Stone Tao Xiaochen Li Tongzhou Mu Zhiao Huang Yuzhe Qin Hao Su 29 3 0 14 Oct 2022
Hypergraph-based Multi-Robot Task and Motion Planning James Motes Tan Chen Timothy Bretl M. Morales Nancy M. Amato 11 14 0 09 Oct 2022
GLAD: Grounded Layered Autonomous Driving for Complex Service Tasks Yan Ding Cheng Cui Xiaohan Zhang Shiqi Zhang 44 3 0 05 Oct 2022
Planning for Multi-Object Manipulation with Graph Neural Network Relational Classifiers Yixuan Huang Adam Conkey Tucker Hermans 27 26 0 24 Sep 2022
Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation Mohit Shridhar Lucas Manuelli Dieter Fox LM&Ro 175 468 0 12 Sep 2022
Multi-query Robotic Manipulator Task Sequencing with Gromov-Hausdorff Approximations F. Sukkar Jennifer Wakulicz Ki Myung Brian Lee Weiming Zhi Robert Fitch 20 2 0 11 Sep 2022
Vision for Bosnia and Herzegovina in Artificial Intelligence Age: Global Trends, Potential Opportunities, Selected Use-cases and Realistic Goals Zlatan Ajanović E. Alickovic Aida Brankovic Sead Delalic Eldar Kurtic S. Malikić Adnan Mehonic Hamza Merzic Kenan Sehic Bahrudin Trbalic 62 0 0 08 Sep 2022
Multi-skill Mobile Manipulation for Object Rearrangement Jiayuan Gu Devendra Singh Chaplot Hao Su Jitendra Malik 49 53 0 06 Sep 2022
A MIP-Based Approach for Multi-Robot Geometric Task-and-Motion Planning Hejia Zhang Shao-Hung Chan Jie Zhong Jiaoyang Li Sven Koenig Stefanos Nikolaidis 43 10 0 30 Aug 2022
Challenges in Applying Robotics to Retail Store Management Vartika Sengar Aditya Kapoor Nijil George Vighnesh Vatsal J. Gubbi P. Balamuralidhar Arpan Pal 30 4 0 18 Aug 2022
Learning Efficient Abstract Planning Models that Choose What to Predict Nishanth Kumar Willie McClinton Rohan Chitnis Tom Silver Tomás Lozano-Pérez L. Kaelbling 37 18 0 16 Aug 2022
Abstract Interpretation for Generalized Heuristic Search in Model-Based Planning Zhi-Xuan Tan J. Tenenbaum Vikash K. Mansinghka 35 0 0 05 Aug 2022
Robust Planning for Multi-stage Forceful Manipulation Rachel Holladay Tomás Lozano-Pérez Alberto Rodriguez 25 17 0 30 Jul 2022
Neural-Guided RuntimePrediction of Planners for Improved Motion and Task Planning with Graph Neural Networks S. Odense Kamal Gupta W. Macready 28 2 0 29 Jul 2022
Rethinking Sim2Real: Lower Fidelity Simulation Leads to Higher Sim2Real Transfer in Navigation Joanne Truong M. Rudolph Naoki Yokoyama Sonia Chernova Dhruv Batra Akshara Rai 29 40 0 21 Jul 2022
Learning Temporally Extended Skills in Continuous Domains as Symbolic Actions for Planning Jan Achterhold Markus Krimmel Joerg Stueckler 40 9 0 11 Jul 2022
TASKOGRAPHY: Evaluating robot task planning over large 3D scene graphs Christopher Agia Krishna Murthy Jatavallabhula M. Khodeir O. Mikšík Vibhav Vineet Mustafa Mukadam Liam Paull Florian Shkurti 34 68 0 11 Jul 2022
Sequential Manipulation Planning on Scene Graph Ziyuan Jiao Yida Niu Zeyu Zhang Song-Chun Zhu Yixin Zhu Hangxin Liu 32 23 0 10 Jul 2022
Physically-Feasible Repair of Reactive, Linear Temporal Logic-based, High-Level Tasks Adam Pacheck H. Kress-Gazit 28 15 0 06 Jul 2022
Transformers are Adaptable Task Planners Vidhi Jain Yixin Lin Eric Undersander Yonatan Bisk Akshara Rai 27 24 0 06 Jul 2022
Learning Neuro-Symbolic Skills for Bilevel Planning Tom Silver Ashay Athalye J. Tenenbaum Tomas Lozano-Perez L. Kaelbling 37 59 0 21 Jun 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
N $^2$ M $^2$ : Learning Navigation for Arbitrary Mobile Manipulation Motions in Unseen and Dynamic Environments Daniel Honerkamp Tim Welschehold Abhinav Valada 35 27 0 17 Jun 2022
Temporal Logic Imitation: Learning Plan-Satisficing Motion Policies from Demonstrations Yanwei Wang Nadia Figueroa Shen Li Ankit J. Shah J. Shah 24 21 0 09 Jun 2022
Planning with Dynamically Estimated Action Costs Eyal Weiss G. Kaminka OffRL 4 1 0 08 Jun 2022
Position Paper: Online Modeling for Offline Planning Eyal Weiss G. Kaminka OffRL 16 3 0 07 Jun 2022
Challenges to Solving Combinatorially Hard Long-Horizon Deep RL Tasks Andrew C. Li Pashootan Vaezipoor Rodrigo Toro Icarte Sheila A. McIlraith OffRL LRM 26 4 0 03 Jun 2022
A General Framework for the Representation of Function and Affordance: A Cognitive, Causal, and Grounded Approach, and a Step Toward AGI Seng-Beng Ho 30 4 0 02 Jun 2022
Safe, Occlusion-Aware Manipulation for Online Object Reconstruction in Confined Spaces Yinglong Miao Rui Wang Kostas Bekris 22 4 0 24 May 2022
Generalizable Task Planning through Representation Pretraining Chen Wang Danfei Xu Li Fei-Fei LM&Ro 77 28 0 16 May 2022
Autonomous Electric Vehicle Battery Disassembly Based on NeuroSymbolic Computing Hengwei Zhang Hua Yang Haitao Wang Zhigang Wang Sheng Z. Zhang Ming Chen 29 11 0 16 May 2022
Informed Steiner Trees: Sampling and Pruning for Multi-Goal Path Finding in High Dimensions Nikhil Chandak Kenny Chour Sivakumar Rathinam Ramamoorthi Ravi 14 3 0 09 May 2022