相关论文: Long-Horizon Planning and Execution with Functiona…

We present a strategy for designing and building very general robot manipulation systems involving the integration of a general-purpose task-and-motion planner with engineered and learned perception modules that estimate properties and…

Objects rarely sit in isolation in human environments. As such, we'd like our robots to reason about how multiple objects relate to one another and how those relations may change as the robot interacts with the world. To this end, we…

We are interested in enabling visual planning for complex long-horizon tasks in the space of generated videos and language, leveraging recent advances in large generative models pretrained on Internet-scale data. To this end, we present…

While robots can learn models to solve many manipulation tasks from raw visual input, they cannot usually use these models to solve new problems. On the other hand, symbolic planning methods such as STRIPS have long been able to solve new…

Recent learning-to-plan methods have shown promising results on planning directly from observation space. Yet, their ability to plan for long-horizon tasks is limited by the accuracy of the prediction model. On the other hand, classical…

We address key challenges in long-horizon embodied exploration and navigation by proposing a new object transport task and a novel modular framework for temporally extended navigation. Our first contribution is the design of a novel…

In symbolic planning systems, the knowledge on the domain is commonly provided by an expert. Recently, an automatic abstraction procedure has been proposed in the literature to create a Planning Domain Definition Language (PDDL)…

Autonomous robots operating in large knowledgeintensive domains require planning in the discrete (task) space and the continuous (motion) space. In knowledge-intensive domains, on the one hand, robots have to reason at the highestlevel, for…

In this study, we are interested in imbuing robots with the capability of physically-grounded task planning. Recent advancements have shown that large language models (LLMs) possess extensive knowledge useful in robotic tasks, especially in…

Recent advancements in Large Language Models (LLMs) have sparked a revolution across many research fields. In robotics, the integration of common-sense knowledge from LLMs into task and motion planning has drastically advanced the field by…

This paper focuses on embodied task planning, where an agent acquires visual observations from the environment and executes atomic actions to accomplish a given task. Although recent Vision-Language Models (VLMs) have achieved impressive…

Real-world robotic tasks are long-horizon and often span multiple floors, demanding rich spatial reasoning. However, existing embodied benchmarks are largely confined to single-floor in-house environments, failing to reflect the complexity…

Building perceptual systems for robotics which perform well under tight computational budgets requires novel architectures which rethink the traditional computer vision pipeline. Modern vision architectures require the agent to build a…

We introduce a new class of non-linear models for functional data based on neural networks. Deep learning has been very successful in non-linear modeling, but there has been little work done in the functional data setting. We propose two…

State-of-the-art approaches to ObjectGoal navigation rely on reinforcement learning and typically require significant computational resources and time for learning. We propose Potential functions for ObjectGoal Navigation with…

In this work, we introduce SMART-LLM, an innovative framework designed for embodied multi-robot task planning. SMART-LLM: Smart Multi-Agent Robot Task Planning using Large Language Models (LLMs), harnesses the power of LLMs to convert…

We present an approach to learn an object-centric forward model, and show that this allows us to plan for sequences of actions to achieve distant desired goals. We propose to model a scene as a collection of objects, each with an explicit…

Long-horizon household tasks demand robust high-level planning and sustained reasoning capabilities, which are largely overlooked by existing embodied AI benchmarks that emphasize short-horizon navigation or manipulation and rely on fixed…

Object Navigation (ObjectNav) has made great progress with large language models (LLMs), but still faces challenges in memory management, especially in long-horizon tasks and dynamic scenes. To address this, we propose TopoNav, a new…

Interactive task planning with large language models (LLMs) enables robots to generate high-level action plans from natural language instructions. However, in long-horizon tasks, such approaches often require many questions, increasing user…