Related papers: An Experience-based TAMP Framework for Foliated Ma…

Randomized sampling based algorithms are widely used in robot motion planning due to the problem's intractability, and are experimentally effective on a wide range of problem instances. Most variants bias their sampling using various…

The challenge of engineering autonomous agents capable of navigating the stochastic and adversarial nature of the physical world has historically resided at the intersection of symbolic logic and control theory. Traditional multi-agent…

The ability to handle objects in cluttered environment has been long anticipated by robotic community. However, most of works merely focus on manipulation instead of rendering hidden semantic information in cluttered objects. In this work,…

Navigation is a fundamental capacity for mobile robots, enabling them to operate autonomously in complex and dynamic environments. Conventional approaches use probabilistic models to localize robots and build maps simultaneously using…

A combined task-level reinforcement learning and motion planning framework is proposed in this paper to address a multi-class in-rack test tube rearrangement problem. At the task level, the framework uses reinforcement learning to infer a…

We present new models of optimization-based task and motion planning (TAMP) for robotic pick-and-place (P&P), which plan action sequences and motion trajectory with low computational costs. We improved an existing state-of-the-art TAMP…

Coverage path planning is a fundamental challenge in robotics, with diverse applications in aerial surveillance, manufacturing, cleaning, inspection, agriculture, and more. The main objective is to devise a trajectory for an agent that…

Autonomous exploration of multi-floor buildings remains challenging for ground robots because conventional 2D and 2.5D maps cannot represent overlapping traversable surfaces such as stairs, ramps, and multiple reachable elevations. This…

Occupancy grids are the most common framework when it comes to creating a map of the environment using a robot. This paper studies occupancy grids from the motion planning perspective and proposes a mapping method that provides richer data…

Object rearrangement is a widely-applicable and challenging task for robots. Geometric constraints must be carefully examined to avoid collisions and combinatorial issues arise as the number of objects increases. This work studies the…

We present an integrated Task-Motion Planning (TMP) framework for navigation in large-scale environments. Of late, TMP for manipulation has attracted significant interest resulting in a proliferation of different approaches. In contrast,…

For robotic interaction in environments shared with other agents, access to volumetric and semantic maps of the scene is crucial. However, such environments are inevitably subject to long-term changes, which the map needs to account for. We…

Planning over unstructured terrain presents a significant challenge in the field of legged robotics. Although recent works in reinforcement learning have yielded various locomotion strategies, planning over multiple experts remains a…

Compact representations of objects is a common concept in computer science. Automated planning can be viewed as a case of this concept: a planning instance is a compact implicit representation of a graph and the problem is to find a path (a…

We present a braided circuit topology framework for investigating topology and structural phase transitions in aggregates of semiflexible polymers. In the conventional approach to circuit topology, which specifically applies to single…

Multi-agent path planning (MAPP) is the problem of planning collision-free trajectories from start to goal locations for a team of agents. This work explores a relatively unexplored setting of MAPP where streams of agents have to go through…

Compared to conventional decomposition methods that use ellipses or polygons to represent free space, starshaped representation can better capture the natural distribution of sensor data, thereby exploiting a larger portion of traversable…

The distributed coordination of robot teams performing complex tasks is challenging to formulate. The different aspects of a complete task such as local planning for obstacle avoidance, global goal coordination and collaborative mapping are…

We introduce the transport-and-pack(TAP) problem, a frequently encountered instance of real-world packing, and develop a neural optimization solution based on reinforcement learning. Given an initial spatial configuration of boxes, we seek…

Autonomous navigation in unfamiliar environments requires robots to simultaneously explore, localise, and plan under uncertainty, without relying on predefined maps or extensive training. We present Active Inference MAPping and Planning…