相关论文: SLAP: Shortcut Learning for Abstract Planning

We introduce Large Language Model-Assisted Preference Prediction (LAPP), a novel framework for robot learning that enables efficient, customizable, and expressive behavior acquisition with minimum human effort. Unlike prior approaches that…

Task planning and motion planning are two of the most important problems in robotics, where task planning methods help robots achieve high-level goals and motion planning methods maintain low-level feasibility. Task and motion planning…

Task and Motion Planning (TAMP) algorithms solve long-horizon robotics tasks by integrating task planning with motion planning; the task planner proposes a sequence of actions towards a goal state and the motion planner verifies whether…

Simultaneous localisation and mapping (SLAM) play a vital role in autonomous robotics. Robotic platforms are often resource-constrained, and this limitation motivates resource-efficient SLAM implementations. While sparse visual SLAM…

Imitation learning from human demonstrations can teach robots complex manipulation skills, but is time-consuming and labor intensive. In contrast, Task and Motion Planning (TAMP) systems are automated and excel at solving long-horizon…

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…

We present a framework for learning to guide geometric task and motion planning (GTAMP). GTAMP is a subclass of task and motion planning in which the goal is to move multiple objects to target regions among movable obstacles. A standard…

Mobile robots are often tasked with repeatedly navigating through an environment whose traversability changes over time. These changes may exhibit some hidden structure, which can be learned. Many studies consider reactive algorithms for…

Abstraction is key to scaling up reinforcement learning (RL). However, autonomously learning abstract state and action representations to enable transfer and generalization remains a challenging open problem. This paper presents a novel…

For effective human-robot interaction, robots need to understand, plan, and execute complex, long-horizon tasks described by natural language. Recent advances in large language models (LLMs) have shown promise for translating natural…

Autonomous agents powered by large language models (LLMs) have shown impressive capabilities in tool manipulation for complex task-solving. However, existing paradigms such as ReAct rely on sequential reasoning and execution, failing to…

Planning-based reinforcement learning for continuous control is bottlenecked by two practical issues: planning at primitive time scales leads to prohibitive branching and long horizons, while real environments are frequently partially…

Simultaneous localization and mapping (SLAM) is a foundational state estimation problem in robotics in which a robot accurately constructs a map of its environment while also localizing itself within this construction. We study the active…

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…

In this paper, we present an approach for integrated task and motion planning based on an AND/OR graph network, which is used to represent task-level states and actions, and we leverage it to implement different classes of task and motion…

Task-motion planning (TMP) addresses the problem of efficiently generating executable and low-cost task plans in a discrete space such that the (initially unknown) action costs are determined by motion plans in a corresponding continuous…

The Dynamic Task Assignment Problem (DTAP) concerns matching resources to tasks in real time while minimizing some objectives, like resource costs or task cycle time. In this work, we consider a DTAP variant where every task is a case…

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…

We introduce an algorithm for model-based hierarchical reinforcement learning to acquire self-contained transition and reward models suitable for probabilistic planning at multiple levels of abstraction. We call this framework Planning with…

Planning is a crucial task for agents in task oriented dialogs (TODs). Human agents typically resolve user issues by following predefined workflows, decomposing workflow steps into actionable items, and performing actions by executing APIs…