相关论文: Planimation
Sampling-based planning algorithms are the most common probabilistically complete algorithms and are widely used on many robot platforms. Within this class of algorithms, many variants have been proposed over the last 20 years, yet there is…
The Planning Domain Definition Language (PDDL) is the state-of-the-art language for specifying planning problems in artificial intelligence research. Writing and maintaining these planning problems, however, can be time-consuming and error…
Image animation consists of generating a video sequence so that an object in a source image is animated according to the motion of a driving video. Our framework addresses this problem without using any annotation or prior information about…
Large language models (LLMs) have taken the world by storm by making many previously difficult uses of AI feasible. LLMs are controlled via highly expressive textual prompts and return textual answers. Unfortunately, this unstructured text…
This article introduces PlaCo, a software framework designed to simplify the formulation and solution of Quadratic Programming (QP)-based planning and control problems for robotic systems. PlaCo provides a high-level interface that…
In this paper, we study the problem of procedure planning in instructional videos, which can be seen as a step towards enabling autonomous agents to plan for complex tasks in everyday settings such as cooking. Given the current visual…
The advancement of vision language models (VLMs) has empowered embodied agents to accomplish simple multimodal planning tasks, but not long-horizon ones requiring long sequences of actions. In text-only simulations, long-horizon planning…
Task planning, the problem of sequencing actions to reach a goal from an initial state, is a core capability requirement for autonomous robotic systems. Whether large language models (LLMs) can serve as viable planners alongside classical…
Planning is a critical component of any artificial intelligence system that concerns the realization of strategies or action sequences typically for intelligent agents and autonomous robots. Given predefined parameterized actions, a…
We study the usage of language models (LMs) for planning over world models specified in the Planning Domain Definition Language (PDDL). We prompt LMs to generate Python programs that serve as generalised policies for solving PDDL problems…
In recent years research in the planning community has moved increasingly toward s application of planners to realistic problems involving both time and many typ es of resources. For example, interest in planning demonstrated by the space…
We introduce ontology-mediated planning, in which planning problems are combined with an ontology. Our formalism differs from existing ones in that we focus on a strong separation of the formalisms for describing planning problems and…
Creative coding is an experimentation-heavy activity that requires translating high-level visual ideas into code. However, most languages and libraries for creative coding may not be adequately intuitive for beginners. In this paper, we…
We present a declarative language, PP, for the high-level specification of preferences between possible solutions (or trajectories) of a planning problem. This novel language allows users to elegantly express non-trivial, multi-dimensional…
Manipulation planning is the problem of finding a sequence of robot configurations that involves interactions with objects in the scene, e.g., grasping and placing an object, or more general tool-use. To achieve such interactions,…
Large Language Models (LLMs) have demonstrated remarkable ability in long-horizon Task and Motion Planning (TAMP) by translating clear and straightforward natural language problems into formal specifications such as the Planning Domain…
We address the decision-making capability within an end-to-end planning framework that focuses on motion prediction, decision-making, and trajectory planning. Specifically, we formulate decision-making and trajectory planning as a…
High-quality visualizations are an essential part of robotics research, enabling clear communication of results through figures, animations, and demonstration videos. While Blender is a powerful and freely available 3D graphics platform,…
Vision Language Models (VLMs) show strong potential for visual planning but struggle with precise spatial and long-horizon reasoning, while Planning Domain Definition Language (PDDL) planners excel at formal long-horizon planning but cannot…
Planning is a fundamental task in artificial intelligence that involves finding a sequence of actions that achieve a specified goal in a given environment. Large language models (LLMs) are increasingly used for applications that require…