Related papers: Multi-Robot Motions in Milliseconds: Vector-Accele…
Planning under uncertainty for real-world robotics tasks, such as autonomous driving, requires reasoning in enormous high-dimensional belief spaces, rendering the problem computationally intensive. While parallelization offers scalability,…
Support Vector Machines (SVM), a popular machine learning technique, has been applied to a wide range of domains such as science, finance, and social networks for supervised learning. Whether it is identifying high-risk patients by…
Planning long-horizon robot manipulation requires making discrete decisions about which objects to interact with and continuous decisions about how to interact with them. A robot planner must select grasps, placements, and motions that are…
High-dimensional motion planning problems can often be solved significantly faster by using multilevel abstractions. While there are various ways to formally capture multilevel abstractions, we formulate them in terms of fiber bundles.…
Task and motion planning (TAMP) algorithms aim to help robots achieve task-level goals, while maintaining motion-level feasibility. This paper focuses on TAMP domains that involve robot behaviors that take extended periods of time (e.g.,…
In practice, many types of manipulation actions (e.g., pick-n-place and push) are needed to accomplish real-world manipulation tasks. Yet, limited research exists that explores the synergistic integration of different manipulation actions…
Specialized computational units that perform small matrix multiplications as primitive operations are typically present in modern AI accelerators. However, these Matrix Multiplication Units (MMUs) are often underutilized for many…
Multi-Agent Path Finding (MAPF) is a long-standing problem in Robotics and Artificial Intelligence in which one needs to find a set of collision-free paths for a group of mobile agents (robots) operating in the shared workspace. Due to its…
Task and Motion Planning (TAMP) algorithms can generate plans that combine logic and motion aspects for robots. However, these plans are sensitive to interference and control errors. To make TAMP more applicable in real-world, we propose…
This paper introduces a hybrid algorithm of deep reinforcement learning (RL) and Force-based motion planning (FMP) to solve distributed motion planning problem in dense and dynamic environments. Individually, RL and FMP algorithms each have…
We present Fast-dRRT*, a sampling-based multi-robot planner, for real-time industrial automation scenarios. Fast-dRRT* builds upon the discrete rapidly-exploring random tree (dRRT*) planner, and extends dRRT* by using pre-computed swept…
Motion capture from a monocular video is fundamental and crucial for us humans to naturally experience and interact with each other in Virtual Reality (VR) and Augmented Reality (AR). However, existing methods still struggle with…
Randomized methods such as PRM and RRT are widely used in motion planning. However, in some cases, their running-time suffers from inherent instability, leading to ``catastrophic'' performance even for relatively simple instances. We apply…
Task and motion planning (TAMP) for multi-robot systems, which integrates discrete task planning with continuous motion planning, remains a challenging problem in robotics. Existing TAMP approaches often struggle to scale effectively for…
Nowadays, industries are showing a growing interest in human-robot collaboration, particularly for shared tasks. This requires intelligent strategies to plan a robot's motions, considering both task constraints and human-specific factors…
Large pre-trained vision-language models (VLMs) offer a promising approach to leveraging human language for enhancing downstream tasks. However, VLMs such as CLIP face significant limitation: its performance is highly sensitive to prompt…
Motion planning is a crucial component of autonomous robot driving. While various trajectory datasets exist, effectively utilizing them for a target domain remains challenging due to differences in agent interactions and environmental…
State Space Models (SSMs) with selective scan (Mamba) have been adapted into efficient vision models. Mamba, unlike Vision Transformers, achieves linear complexity for token interactions through a recurrent hidden state process. This…
Can unified vision-language models (VLMs) perform forward dynamics prediction (FDP), i.e., predicting the future state (in image form) given the previous observation and an action (in language form)? We find that VLMs struggle to generate…
Meta-learning algorithms can accelerate the model-based reinforcement learning (MBRL) algorithms by finding an initial set of parameters for the dynamical model such that the model can be trained to match the actual dynamics of the system…