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Points2Plans: From Point Clouds to Long-Horizon Plans with Composable Relational Dynamics

27 August 2024

Papers citing "Points2Plans: From Point Clouds to Long-Horizon Plans with Composable Relational Dynamics"

50 / 74 papers shown

Title
Planning under Uncertainty to Goal Distributions Adam Conkey Tucker Hermans 84 3 0 01 Jul 2025
Mobi- $π$ : Mobilizing Your Robot Learning Policy Jingyun Yang Isabella Huang Brandon Vu Max Bajracharya Rika Antonova Jeannette Bohg 49 0 0 29 May 2025
COAST: Constraints and Streams for Task and Motion Planning Brandon Vu Toki Migimatsu Jeannette Bohg 86 7 0 14 May 2024
Consistency Policy: Accelerated Visuomotor Policies via Consistency Distillation Aaditya Prasad Kevin Qinghong Lin Jimmy Wu Linqi Zhou Jeannette Bohg 109 63 0 13 May 2024
Practice Makes Perfect: Planning to Learn Skill Parameter Policies Nishanth Kumar Tom Silver Willie McClinton Linfeng Zhao Stephen Proulx Tomás Lozano-Pérez L. Kaelbling Jennifer Barry 120 22 0 22 Feb 2024
From Real World to Logic and Back: Learning Generalizable Relational Concepts For Long Horizon Robot Planning Naman Shah Jayesh Nagpal Pulkit Verma NAI 125 9 0 19 Feb 2024
LLMs Can't Plan, But Can Help Planning in LLM-Modulo Frameworks Subbarao Kambhampati Karthik Valmeekam L. Guan Mudit Verma Kaya Stechly Siddhant Bhambri Lucas Saldyt Anil Murthy LRM 193 126 0 02 Feb 2024
Distilling and Retrieving Generalizable Knowledge for Robot Manipulation via Language Corrections Lihan Zha Yuchen Cui Li-Heng Lin Minae Kwon Montse Gonzalez Arenas Andy Zeng Fei Xia Dorsa Sadigh 111 37 0 17 Nov 2023
Generative Skill Chaining: Long-Horizon Skill Planning with Diffusion Models Utkarsh Aashu Mishra Shangjie Xue Yongxin Chen Danfei Xu LRM 105 73 0 13 Oct 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 115 8 0 26 Sep 2023
Learning Sequential Acquisition Policies for Robot-Assisted Feeding Priya Sundaresan Jiajun Wu Dorsa Sadigh LM&Ro 85 13 0 11 Sep 2023
Sequential Dexterity: Chaining Dexterous Policies for Long-Horizon Manipulation Yuanpei Chen Chen Wang Fei-Fei Li Chenxi Liu 97 42 0 02 Sep 2023
Discovering Predictive Relational Object Symbols with Symbolic Attentive Layers Alper Ahmetoglu Batuhan Celik Erhan Öztop Emre Ugur 88 7 0 02 Sep 2023
XSkill: Cross Embodiment Skill Discovery Mengda Xu Zhenjia Xu Cheng Chi Manuela Veloso Shuran Song 123 75 0 19 Jul 2023
VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models Wenlong Huang Chen Wang Ruohan Zhang Yunzhu Li Jiajun Wu Li Fei-Fei LM&Ro 134 520 0 12 Jul 2023
RoboCook: Long-Horizon Elasto-Plastic Object Manipulation with Diverse Tools Haochen Shi Huazhe Xu Samuel Clarke Yunzhu Li Jiajun Wu LM&Ro 91 66 0 26 Jun 2023
Imitating Task and Motion Planning with Visuomotor Transformers Murtaza Dalal Ajay Mandlekar Caelan Reed Garrett Ankur Handa Ruslan Salakhutdinov Dieter Fox 163 57 0 25 May 2023
M-EMBER: Tackling Long-Horizon Mobile Manipulation via Factorized Domain Transfer Bohan Wu Roberto Martin-Martin Li Fei-Fei 89 12 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 106 7 0 18 May 2023
LLM+P: Empowering Large Language Models with Optimal Planning Proficiency B. Liu Yuqian Jiang Xiaohan Zhang Qian Liu Shiqi Zhang Joydeep Biswas Peter Stone LM&Ro LLMAG 128 421 0 22 Apr 2023
Segment Anything A. Kirillov Eric Mintun Nikhila Ravi Hanzi Mao Chloe Rolland ... Spencer Whitehead Alexander C. Berg Wan-Yen Lo Piotr Dollár Ross B. Girshick MLLM VLM 512 7,486 0 05 Apr 2023
Text2Motion: From Natural Language Instructions to Feasible Plans Kevin Qinghong Lin Christopher Agia Toki Migimatsu Marco Pavone Jeannette Bohg LM&Ro 167 284 0 21 Mar 2023
GPT-4 Technical Report OpenAI OpenAI OpenAI Josh Achiam Steven Adler Sandhini Agarwal Lama Ahmad ... Shengjia Zhao Tianhao Zheng Juntang Zhuang William Zhuk Barret Zoph LLMAG MLLM 1.7K 14,871 0 15 Mar 2023
Diffusion Policy: Visuomotor Policy Learning via Action Diffusion Cheng Chi Zhenjia Xu S. Feng Eric A. Cousineau Yilun Du Benjamin Burchfiel Russ Tedrake Shuran Song 389 1,248 0 07 Mar 2023
PaLM-E: An Embodied Multimodal Language Model Danny Driess F. Xia Mehdi S. M. Sajjadi Corey Lynch Aakanksha Chowdhery ... Marc Toussaint Klaus Greff Andy Zeng Igor Mordatch Peter R. Florence LM&Ro 162 1,679 0 06 Mar 2023
StructDiffusion: Language-Guided Creation of Physically-Valid Structures using Unseen Objects Weiyu Liu Yilun Du Tucker Hermans Sonia Chernova Chris Paxton DiffM 101 54 0 08 Nov 2022
LEAGUE: Guided Skill Learning and Abstraction for Long-Horizon Manipulation Shuo Cheng Danfei Xu 141 41 0 23 Oct 2022
STAP: Sequencing Task-Agnostic Policies Christopher Agia Toki Migimatsu Jiajun Wu Jeannette Bohg 111 20 0 21 Oct 2022
Generalization with Lossy Affordances: Leveraging Broad Offline Data for Learning Visuomotor Tasks Kuan Fang Patrick Yin Ashvin Nair Homer Walke Ge Yan Sergey Levine OffRL 96 25 0 12 Oct 2022
Planning for Multi-Object Manipulation with Graph Neural Network Relational Classifiers Yixuan Huang Adam Conkey Tucker Hermans 126 26 0 24 Sep 2022
ProgPrompt: Generating Situated Robot Task Plans using Large Language Models Ishika Singh Valts Blukis Arsalan Mousavian Ankit Goyal Danfei Xu Jonathan Tremblay Dieter Fox Jesse Thomason Animesh Garg LM&Ro LLMAG 219 659 0 22 Sep 2022
Skill-based Model-based Reinforcement Learning Lu Shi Joseph J. Lim Youngwoon Lee 110 46 0 15 Jul 2022
Inner Monologue: Embodied Reasoning through Planning with Language Models Wenlong Huang F. Xia Ted Xiao Harris Chan Jacky Liang ... Tomas Jackson Linda Luu Sergey Levine Karol Hausman Brian Ichter LLMAG LM&Ro LRM 211 927 0 12 Jul 2022
Learning Neuro-Symbolic Skills for Bilevel Planning Tom Silver Ashay Athalye J. Tenenbaum Tomas Lozano-Perez L. Kaelbling 109 66 0 21 Jun 2022
Generalizable Task Planning through Representation Pretraining Chen Wang Danfei Xu Li Fei-Fei LM&Ro 134 29 0 16 May 2022
Do As I Can, Not As I Say: Grounding Language in Robotic Affordances Michael Ahn Anthony Brohan Noah Brown Yevgen Chebotar Omar Cortes ... Ted Xiao Peng Xu Sichun Xu Mengyuan Yan Andy Zeng LM&Ro 220 1,992 0 04 Apr 2022
DiffSkill: Skill Abstraction from Differentiable Physics for Deformable Object Manipulations with Tools Xingyu Lin Zhiao Huang Yunzhu Li J. Tenenbaum David Held Chuang Gan 88 73 0 31 Mar 2022
Predicate Invention for Bilevel Planning Tom Silver Rohan Chitnis Nishanth Kumar Willie McClinton Tomás Lozano-Pérez L. Kaelbling J. Tenenbaum 189 43 0 17 Mar 2022
Learning Multi-Object Dynamics with Compositional Neural Radiance Fields Danny Driess Zhiao Huang Yunzhu Li Russ Tedrake Marc Toussaint OCL AI4CE 199 87 0 24 Feb 2022
Adversarial Skill Chaining for Long-Horizon Robot Manipulation via Terminal State Regularization Youngwoon Lee Joseph J. Lim Anima Anandkumar Yuke Zhu OffRL 85 41 0 15 Nov 2021
Value Function Spaces: Skill-Centric State Abstractions for Long-Horizon Reasoning Dhruv Shah Peng Xu Yao Lu Ted Xiao Alexander Toshev Sergey Levine Brian Ichter OffRL 88 43 0 04 Nov 2021
Accelerating Robotic Reinforcement Learning via Parameterized Action Primitives Murtaza Dalal Deepak Pathak Ruslan Salakhutdinov 129 95 0 28 Oct 2021
Augmenting Reinforcement Learning with Behavior Primitives for Diverse Manipulation Tasks Soroush Nasiriany Huihan Liu Yuke Zhu 164 112 0 07 Oct 2021
SORNet: Spatial Object-Centric Representations for Sequential Manipulation Wentao Yuan Chris Paxton Karthik Desingh Dieter Fox 3DPC 238 72 0 08 Sep 2021
Predicting Stable Configurations for Semantic Placement of Novel Objects Chris Paxton Christopher Xie Tucker Hermans Dieter Fox 100 47 0 26 Aug 2021
Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning Viktor Makoviychuk Lukasz Wawrzyniak Yunrong Guo Michelle Lu Kier Storey ... David Hoeller Nikita Rudin Arthur Allshire Ankur Handa Gavriel State 254 1,094 0 24 Aug 2021
Long-Horizon Manipulation of Unknown Objects via Task and Motion Planning with Estimated Affordances Aidan Curtis Xiaolin Fang L. Kaelbling Tomás Lozano-Pérez Caelan Reed Garrett 233 65 0 09 Aug 2021
3D Neural Scene Representations for Visuomotor Control Yunzhu Li Shuang Li Vincent Sitzmann Pulkit Agrawal Antonio Torralba 127 142 0 08 Jul 2021
Learning Neuro-Symbolic Relational Transition Models for Bilevel Planning Rohan Chitnis Tom Silver J. Tenenbaum Tomas Lozano-Perez L. Kaelbling 127 54 0 28 May 2021
Open-vocabulary Object Detection via Vision and Language Knowledge Distillation Xiuye Gu Nayeon Lee Weicheng Kuo Huayu Chen VLM ObjD 339 922 0 28 Apr 2021