Long-Horizon Manipulation of Unknown Objects via Task and Motion Planning with Estimated Affordances

9 August 2021

Tomás Lozano-Pérez

Papers citing "Long-Horizon Manipulation of Unknown Objects via Task and Motion Planning with Estimated Affordances"

50 / 52 papers shown

Title
Modality Selection and Skill Segmentation via Cross-Modality Attention Jiawei Jiang Kei Ota Devesh K. Jha Asako Kanezaki 24 0 0 20 Apr 2025
A Reinforcement Learning Approach to Non-prehensile Manipulation through Sliding Hamidreza Raei Elena De Momi Arash Ajoudani 36 0 0 24 Feb 2025
Differentiable GPU-Parallelized Task and Motion Planning William Shen Caelan Reed Garrett Ankit Goyal Ankit Goyal Tucker Hermans Leslie Pack Kaelbling Tomás Lozano-Pérez F. Ramos 98 0 0 18 Nov 2024
Open-World Task and Motion Planning via Vision-Language Model Inferred Constraints Nishanth Kumar F. Ramos Dieter Fox Caelan Reed Garrett Tomás Lozano-Pérez Leslie Pack Kaelbling Caelan Reed Garrett LRM LM&Ro 68 3 0 13 Nov 2024
SceneComplete: Open-World 3D Scene Completion in Complex Real World Environments for Robot Manipulation Aditya Agarwal Gaurav Singh Bipasha Sen Tomás Lozano-Pérez L. Kaelbling 3DV 41 3 0 31 Oct 2024
VisualPredicator: Learning Abstract World Models with Neuro-Symbolic Predicates for Robot Planning Yichao Liang Nishanth Kumar Hao Tang Adrian Weller J. Tenenbaum Tom Silver Joao Henriques Kevin Ellis 42 8 0 30 Oct 2024
PACA: Perspective-Aware Cross-Attention Representation for Zero-Shot Scene Rearrangement Shutong Jin Ruiyu Wang Kuangyi Chen Florian T. Pokorny 27 0 0 29 Oct 2024
Effort Allocation for Deadline-Aware Task and Motion Planning: A Metareasoning Approach Yoonchang Sung Shahaf S. Shperberg Qi Wang Peter Stone 33 0 0 08 Oct 2024
Hierarchical Hybrid Learning for Long-Horizon Contact-Rich Robotic Assembly Jiankai Sun Aidan Curtis Yang You Yan Xu Michael Koehle Leonidas J. Guibas Sachin Chitta Mac Schwager Hui Li 34 2 0 24 Sep 2024
Interpretable Responsibility Sharing as a Heuristic for Task and Motion Planning Arda Sarp Yenicesu Sepehr Nourmohammadi Berk Cicek Ozgur S. Oguz 69 0 0 09 Sep 2024
ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation Wenlong Huang Chen Wang Yanggeng Li Ruohan Zhang Li Fei-Fei 46 88 0 03 Sep 2024
Points2Plans: From Point Clouds to Long-Horizon Plans with Composable Relational Dynamics Yixuan Huang Christopher Agia Jimmy Wu Tucker Hermans Jeannette Bohg 3DPC 49 1 0 27 Aug 2024
Embodied Uncertainty-Aware Object Segmentation Xiaolin Fang Leslie Pack Kaelbling Tomás Lozano-Pérez 27 5 0 08 Aug 2024
Trust the PRoC3S: Solving Long-Horizon Robotics Problems with LLMs and Constraint Satisfaction Aidan Curtis Nishanth Kumar Jing Cao Tomás Lozano-Pérez Leslie Pack Kaelbling 56 10 0 08 Jun 2024
Task and Motion Planning for Execution in the Real Tianyang Pan Rahul Shome Lydia E. Kavraki 50 2 0 05 Jun 2024
Dynamic On-Palm Manipulation via Controlled Sliding William Yang Michael Posa 46 9 0 14 May 2024
COAST: Constraints and Streams for Task and Motion Planning Brandon Vu Toki Migimatsu Jeannette Bohg 23 6 0 14 May 2024
Closed-Loop Open-Vocabulary Mobile Manipulation with GPT-4V Peiyuan Zhi Zhiyuan Zhang Muzhi Han Zeyu Zhang Zhitian Li Ziyuan Jiao Ziyuan Jiao Siyuan Huang Siyuan Huang LRM LM&Ro 44 29 0 16 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 43 22 0 03 Apr 2024
OceanPlan: Hierarchical Planning and Replanning for Natural Language AUV Piloting in Large-scale Unexplored Ocean Environments Ruochu Yang Fumin Zhang Mengxue Hou 18 5 0 22 Mar 2024
Partially Observable Task and Motion Planning with Uncertainty and Risk Awareness Aidan Curtis George Matheos Nishad Gothoskar Vikash K. Mansinghka Joshua Tenenbaum Tomás Lozano-Pérez L. Kaelbling 19 9 0 15 Mar 2024
Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysis Yafei Hu Quanting Xie Vidhi Jain Jonathan M Francis Jay Patrikar ... Xiaolong Wang Sebastian A. Scherer Z. Kira Fei Xia Yonatan Bisk LM&Ro AI4CE 32 63 0 14 Dec 2023
Offline Skill Generalization via Task and Motion Planning Shin Watanabe Geir Horn J. Tørresen K. Ellefsen OffRL 20 0 0 24 Nov 2023
NOD-TAMP: Generalizable Long-Horizon Planning with Neural Object Descriptors Shuo Cheng Caelan Reed Garrett Ajay Mandlekar Danfei Xu 38 2 0 02 Nov 2023
Human-in-the-Loop Task and Motion Planning for Imitation Learning Ajay Mandlekar Caelan Reed Garrett Danfei Xu Dieter Fox 41 15 0 24 Oct 2023
Modular Multi-Level Replanning TAMP Framework for Dynamic Environment Tao Lin Chengfei Yue Ziran Liu Xibin Cao LRM 15 1 0 23 Oct 2023
OceanChat: Piloting Autonomous Underwater Vehicles in Natural Language Jia Huang Mengxue Hou Junkai Wang Fumin Zhang 32 5 0 27 Sep 2023
Adversarial Object Rearrangement in Constrained Environments with Heterogeneous Graph Neural Networks Xibai Lou Houjian Yu Ross Worobel Yang Yang Changhyun Choi 29 3 0 27 Sep 2023
Out of Sight, Still in Mind: Reasoning and Planning about Unobserved Objects with Video Tracking Enabled Memory Models Yixuan Huang Jialin Yuan Chanho Kim Pupul Pradhan Bryan Chen Fuxin Li Tucker Hermans 37 7 0 26 Sep 2023
Compositional Diffusion-Based Continuous Constraint Solvers Zhutian Yang Jiayuan Mao Yilun Du Jiajun Wu J. Tenenbaum Tomás Lozano-Pérez L. Kaelbling DiffM 75 32 0 02 Sep 2023
Leveraging Symmetries in Pick and Place Hao-zhe Huang Dian Wang Arsh Tangri Robin G. Walters Robert W. Platt 32 14 0 15 Aug 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 38 52 0 18 Jul 2023
Shelving, Stacking, Hanging: Relational Pose Diffusion for Multi-modal Rearrangement Anthony Simeonov Ankit Goyal Lucas Manuelli Lin Yen-Chen Alina Sarmiento Alberto Rodriguez Pulkit Agrawal D. Fox DiffM 41 38 0 10 Jul 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 D. Fox DiffM 33 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 44 79 0 20 Jun 2023
Transferring Foundation Models for Generalizable Robotic Manipulation Jiange Yang Wenhui Tan Chuhao Jin Keling Yao Bei Liu Jianlong Fu Ruihua Song Gangshan Wu Limin Wang LM&Ro 47 6 0 09 Jun 2023
Multi-Stage Monte Carlo Tree Search for Non-Monotone Object Rearrangement Planning in Narrow Confined Environments Hanwen Ren A. H. Qureshi 20 1 0 26 May 2023
Imitating Task and Motion Planning with Visuomotor Transformers Murtaza Dalal Ajay Mandlekar Caelan Reed Garrett Ankur Handa Ruslan Salakhutdinov D. Fox 42 52 0 25 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 36 7 0 18 May 2023
Spatial-Language Attention Policies for Efficient Robot Learning Priyam Parashar Vidhi Jain Xiaohan Zhang Jay Vakil Sam Powers Yonatan Bisk Chris Paxton LM&Ro 42 5 0 21 Apr 2023
Text2Motion: From Natural Language Instructions to Feasible Plans Kevin Qinghong Lin Christopher Agia Toki Migimatsu Marco Pavone Jeannette Bohg LM&Ro 18 266 0 21 Mar 2023
Task and Motion Planning with Large Language Models for Object Rearrangement Yan Ding Xiaohan Zhang Chris Paxton Shiqi Zhang LM&Ro LRM 29 179 0 10 Mar 2023
Open-World Object Manipulation using Pre-trained Vision-Language Models Austin Stone Ted Xiao Yao Lu K. Gopalakrishnan Kuang-Huei Lee ... Sean Kirmani Brianna Zitkovich F. Xia Chelsea Finn Karol Hausman LM&Ro 150 144 0 02 Mar 2023
SE(3)-Equivariant Relational Rearrangement with Neural Descriptor Fields Anthony Simeonov Yilun Du Lin Yen-Chen Alberto Rodriguez L. Kaelbling Tomas Lozano-Perez Pulkit Agrawal 31 52 0 17 Nov 2022
A Survey on the Integration of Machine Learning with Sampling-based Motion Planning T. McMahon A. Sivaramakrishnan Edgar Granados Kostas E. Bekris 17 14 0 15 Nov 2022
StructDiffusion: Language-Guided Creation of Physically-Valid Structures using Unseen Objects Weiyu Liu Yilun Du Tucker Hermans Sonia Chernova Chris Paxton DiffM 23 53 0 08 Nov 2022
Generalizable Task Planning through Representation Pretraining Chen Wang Danfei Xu Li Fei-Fei LM&Ro 70 28 0 16 May 2022
Equivariant Transporter Network Hao-zhe Huang Dian Wang Robin G. Walters Robert W. Platt 56 53 0 18 Feb 2022
Planning for Multi-stage Forceful Manipulation Rachel Holladay Tomás Lozano-Pérez Alberto Rodriguez 104 12 0 07 Jan 2021
Planning under Uncertainty to Goal Distributions Adam Conkey Tucker Hermans 21 3 0 09 Nov 2020