相关论文: Learning to Search in Task and Motion Planning wit…

Planning smooth and energy-efficient motions for wheeled mobile robots is a central task for applications ranging from autonomous driving to service and intralogistic robotics. Over the past decades, a wide variety of motion planners, steer…

There is a growing cross-disciplinary effort in the broad domain of optimization and learning with streams of data, applied to settings where traditional batch optimization techniques cannot produce solutions at time scales that match the…

The main goal in task planning is to build a sequence of actions that takes an agent from an initial state to a goal state. In robotics, this is particularly difficult because actions usually have several possible results, and sensors are…

In task and motion planning (TAMP), the ambiguity and underdetermination of abstract descriptions used by task planning methods make it difficult to characterize physical constraints needed to successfully execute a task. The usual approach…

Recent work on Neural-Symbolic systems that learn the discrete planning model from images has opened a promising direction for expanding the scope of Automated Planning and Scheduling to the raw, noisy data. However, previous work only…

Integrated task and motion planning has emerged as a challenging problem in sequential decision making, where a robot needs to compute high-level strategy and low-level motion plans for solving complex tasks. While high-level strategies…

In this paper we present an interface between a symbolic planner and a geometric task planner, which is different to a standard trajectory planner in that the former is able to perform geometric reasoning on abstract entities---tasks. We…

Modern robotic manufacturing requires collision-free coordination of multiple robots to complete numerous tasks in shared, obstacle-rich workspaces. Although individual tasks may be simple in isolation, automated joint task allocation,…

Surveillance and exploration of large environments is a tedious task. In spaces with limited environmental cues, random-like search is an effective approach as it allows the robot to perform online coverage of environments using simple…

Methods that use Large Language Models (LLM) as planners for embodied instruction following tasks have become widespread. To successfully complete tasks, the LLM must be grounded in the environment in which the robot operates. One solution…

Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…

While Large Language Models (LLMs) provide semantic flexibility for robotic task planning, their susceptibility to hallucination and logical inconsistency limits their reliability in long-horizon domains. To bridge the gap between…

Fast and efficient sampling-based motion planning (SMP) is an integral component of many robotic systems, such as autonomous cars. A popular technique to improve the efficiency of these planners is to restrict search space in the planning…

For autonomous service robots to successfully perform long horizon tasks in the real world, they must act intelligently in partially observable environments. Most Task and Motion Planning approaches assume full observability of their state…

This study examines the problem of hopping robot navigation planning to achieve simultaneous goal-directed and environment exploration tasks. We consider a scenario in which the robot has mandatory goal-directed tasks defined using Linear…

Dealing with planning problems with both logical relations and numeric changes in real-world dynamic environments is challenging. Existing numeric planning systems for the problem often discretize numeric variables or impose convex…

In recent years, there has been increasing interest in using formal methods-based techniques to safely achieve temporal tasks, such as timed sequence of goals, or patrolling objectives. Such tasks are often expressed in real-time logics…

There emerges a promising trend of using large language models (LLMs) to generate code-like plans for complex inference tasks such as visual reasoning. This paradigm, known as LLM-based planning, provides flexibility in problem solving and…

We select policies for large Markov Decision Processes (MDPs) with compact first-order representations. We find policies that generalize well as the number of objects in the domain grows, potentially without bound. Existing…

Bimanual robotic manipulation provides significant versatility, but also presents an inherent challenge due to the complexity involved in the spatial and temporal coordination between two hands. Existing works predominantly focus on…