相关论文: Sequence-Based Plan Feasibility Prediction for Eff…
To achieve optimal robot behavior in dynamic scenarios we need to consider complex dynamics in a predictive manner. In the vehicle dynamics community, it is well know that to achieve time-optimal driving on low surface, the vehicle should…
As robots play an increasingly important role in the industrial, the expectations about their applications for everyday living tasks are getting higher. Robots need to perform long-horizon tasks that consist of several sub-tasks that need…
This paper addresses the problem of multi-robot coordination for complex manipulation task sequences. We present a vision-driven task-and-motion planning (TAMP) framework for a real dual-agent platform that integrates task decomposition and…
Task and motion planning is one of the key problems in robotics today. It is often formulated as a discrete task allocation problem combined with continuous motion planning. Many existing approaches to TAMP involve explicit descriptions of…
Imitation learning is a powerful tool for training robot manipulation policies, allowing them to learn from expert demonstrations without manual programming or trial-and-error. However, common methods of data collection, such as human…
Integrated task and motion planning (TAMP) has proven to be a valuable approach to generalizable long-horizon robotic manipulation and navigation problems. However, the typical TAMP problem formulation assumes full observability and…
Generalized planning accelerates classical planning by finding an algorithm-like policy that solves multiple instances of a task. A generalized plan can be learned from a few training examples and applied to an entire domain of problems.…
We consider a sequential task and motion planning (tamp) setting in which a robot is assigned continuous-space rearrangement-style tasks one-at-a-time in an environment that persists between each. Lacking advance knowledge of future tasks,…
Task and motion planning (TAMP) for robotics manipulation necessitates long-horizon reasoning involving versatile actions and skills. While deterministic actions can be crafted by sampling or optimizing with certain constraints, planning…
Task and Motion Planning has made great progress in solving hard sequential manipulation problems. However, a gap between such planning formulations and control methods for reactive execution remains. In this paper we propose a model…
Many real-world sequential manipulation tasks involve a combination of discrete symbolic search and continuous motion planning, collectively known as combined task and motion planning (TAMP). However, prevailing methods often struggle with…
Long-horizon decision-making with sparse rewards and continuous states and actions remains a fundamental challenge in AI and robotics. Task and motion planning (TAMP) is a model-based framework that addresses this challenge by planning…
Integrated task and motion planning (TAMP) is desirable for generalized autonomy robots but it is challenging at the same time. TAMP requires the planner to not only search in both the large symbolic task space and the high-dimension motion…
Optimization methods for long-horizon, dynamically feasible motion planning in robotics tackle challenging non-convex and discontinuous optimization problems. Traditional methods often falter due to the nonlinear characteristics of these…
This study proposes a Task and Motion Planning (TAMP) method with symbolic decisions embedded in a bilevel optimization. This TAMP method exploits the discrete structure of sequential manipulation for long-horizon and versatile tasks in…
We introduce Reactive Action and Motion Planner (RAMP), which combines the strengths of sampling-based and reactive approaches for motion planning. In essence, RAMP is a hierarchical approach where a novel variant of a Model Predictive Path…
Autonomous robots operating in dynamic environments must balance global path optimality with real-time responsiveness to disturbances. This requires addressing a fundamental trade-off between computationally expensive global planning and…
In this paper, we tackle the problem of human-robot coordination in sequences of manipulation tasks. Our approach integrates hierarchical human motion prediction with Task and Motion Planning (TAMP). We first devise a hierarchical motion…
The presence of task constraints imposes a significant challenge to motion planning. Despite all recent advancements, existing algorithms are still computationally expensive for most planning problems. In this paper, we present Constrained…
Learning-based methods have shown promising performance for accelerating motion planning, but mostly in the setting of static environments. For the more challenging problem of planning in dynamic environments, such as multi-arm assembly…