相关论文: NOD-TAMP: Generalizable Long-Horizon Planning with…

One-stage object detection is commonly implemented by optimizing two sub-tasks: object classification and localization, using heads with two parallel branches, which might lead to a certain level of spatial misalignment in predictions…

We present an approach for Task-Motion Planning (TMP) using Iterative Deepened AND/OR Graph Networks (TMP-IDAN) that uses an AND/OR graph network based novel abstraction for compactly representing the task-level states and actions. While…

Interpretation and understanding of video presents a challenging computer vision task in numerous fields - e.g. autonomous driving and sports analytics. Existing approaches to interpreting the actions taking place within a video clip are…

Generalization has been one of the major challenges for learning dynamics models in model-based reinforcement learning. However, previous work on action-conditioned dynamics prediction focuses on learning the pixel-level motion and thus…

Data-driven modeling of human motions is ubiquitous in computer graphics and computer vision applications, such as synthesizing realistic motions or recognizing actions. Recent research has shown that such problems can be approached by…

Representing and reasoning about uncertainty is crucial for autonomous agents acting in partially observable environments with noisy sensors. Partially observable Markov decision processes (POMDPs) serve as a general framework for…

We consider manipulation problems in constrained and cluttered settings, which require several regrasps at unknown locations. We propose to inform an optimization-based task and motion planning (TAMP) solver with possible regrasp areas and…

We present a method for performing tasks involving spatial relations between novel object instances initialized in arbitrary poses directly from point cloud observations. Our framework provides a scalable way for specifying new tasks using…

Availability of labelled data is the major obstacle to the deployment of deep learning algorithms for computer vision tasks in new domains. The fact that many frameworks adopted to solve different tasks share the same architecture suggests…

Generalizing beyond the training domain in image-based behavior cloning remains challenging. Existing methods address individual axes of generalization, workspace shifts, viewpoint changes, and cross-embodiment transfer, yet they are…

Goal-conditioned rearrangement of deformable objects (e.g. straightening a rope and folding a cloth) is one of the most common deformable manipulation tasks, where the robot needs to rearrange a deformable object into a prescribed goal…

This paper focuses on semantic task planning, i.e., predicting a sequence of actions toward accomplishing a specific task under a certain scene, which is a new problem in computer vision research. The primary challenges are how to model…

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…

Task and Motion Planning (TAMP) integrates high-level task planning with low-level motion feasibility, but existing methods are costly in long-horizon problems due to excessive motion sampling. While LLMs provide commonsense priors, they…

Long-horizon task planning for heterogeneous multi-robot systems is essential for deploying collaborative teams in real-world environments; yet, it remains challenging due to the large volume of perceptual information, much of which is…

Learning long-horizon manipulation tasks efficiently is a central challenge in robot learning from demonstration. Unlike recent endeavors that focus on directly learning the task in the action domain, we focus on inferring what the robot…

Tracking 3D human motion from egocentric multi-camera headset is challenged by severe egomotion, partial visibility or occlusions and lack of training data. Existing methods designed for monocular video often require static or slowly-moving…

Mobile robots are increasingly required to navigate and interact within unknown and unstructured environments to meet human demands. Demand-driven navigation (DDN) enables robots to identify and locate objects based on implicit human…

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…

This paper presents a task and motion planning (TAMP) framework for a robotic manipulator in order to retrieve a target object from clutter. We consider a configuration of objects in a confined space with a high density so no collision-free…