Related papers: Feature Guided Search for Creative Problem Solving…
In both industrial and service domains, a central benefit of the use of robots is their ability to quickly and reliably execute repetitive tasks. However, even relatively simple peg-in-hole tasks are typically subject to stochastic…
Path-planning algorithms are an important part of a wide variety of robotic applications, such as mobile robot navigation and robot arm manipulation. However, in large search spaces in which local traps may exist, it remains challenging to…
Robots can be very useful to automate tasks and reduce the human effort required. But for the robot to know, how to perform tasks, we need to give it a clear set of steps to follow. It is nearly impossible to provide a robot with…
Industrial robots are designed as general-purpose hardware with limited ability to adapt to changing task requirements or environments. Modular robots, on the other hand, offer flexibility and can be easily customized to suit diverse needs.…
We propose a novel method for multi-objective motion planning problems by leveraging the paradigm of lexicographic optimization and applying it for the first time to graph search over probabilistic roadmaps. The competing resources of…
We propose a causal reasoning framework for creative robot tool use where a suitable tool for a task is correctly identified for use beyond its primary objectives. The proposed framework first discovers the causal relationships between the…
Enabling robots to efficiently search for and identify objects in complex, unstructured environments is critical for diverse applications ranging from household assistance to industrial automation. However, traditional scene representations…
Planning as heuristic search is one of the most successful approaches to classical planning but unfortunately, it does not extend trivially to Generalized Planning (GP). GP aims to compute algorithmic solutions that are valid for a set of…
Robots deployed in many real-world settings need to be able to acquire new skills and solve new tasks over time. Prior works on planning with skills often make assumptions on the structure of skills and tasks, such as subgoal skills, shared…
Lazy search algorithms can efficiently solve problems where edge evaluation is the bottleneck in computation, as is the case for robotic motion planning. The optimal algorithm in this class, LazySP, lazily restricts edge evaluation to only…
Navigation in unfamiliar environments presents a major challenge for robots: while mapping and planning techniques can be used to build up a representation of the world, quickly discovering a path to a desired goal in unfamiliar settings…
Efficient motion planning for high-dimensional robotic systems, such as manipulators and mobile manipulators, is critical for real-time operation and reliable deployment. Although advances in planning algorithms have enhanced scalability to…
Path planning in a changing environment is a challenging task in robotics, as moving objects impose time-dependent constraints. Recent planning methods primarily focus on the spatial aspects, lacking the capability to directly incorporate…
Although heuristic search is one of the most successful approaches to classical planning, this planning paradigm does not apply straightforwardly to Generalized Planning (GP). This paper adapts the planning as heuristic search paradigm to…
Macgyvering refers to solving problems inventively by using whatever objects are available at hand. Tool Macgyvering is a subset of macgyvering tasks involving a missing tool that is either substituted (tool substitution) or constructed…
We describe and evaluate the algorithmic techniques that are used in the FF planning system. Like the HSP system, FF relies on forward state space search, using a heuristic that estimates goal distances by ignoring delete lists. Unlike…
Policy tree search is a family of tree search algorithms that use a policy to guide the search. These algorithms provide guarantees on the number of expansions required to solve a given problem that are based on the quality of the policy.…
Endowing robots with tool design abilities is critical for enabling them to solve complex manipulation tasks that would otherwise be intractable. While recent generative frameworks can automatically synthesize task settings, such as 3D…
Search algorithms are applied where data retrieval with specified specifications is required. The motivation behind developing search algorithms in Functional Object-Oriented Networks is that most of the time, a certain recipe needs to be…
This paper addresses the problem of object-goal navigation in autonomous inspections in real-world environments. Object-goal navigation is crucial to enable effective inspections in various settings, often requiring the robot to identify…