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06/22/2023
DiMSam: Diffusion Models as Samplers for Task and Motion Planning under Partial Observability
Task and Motion Planning (TAMP) approaches are effective at planning lon...
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11/03/2022
Sequence-Based Plan Feasibility Prediction for Efficient Task and Motion Planning
Robots planning long-horizon behavior in complex environments must be ab...
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08/09/2021
Long-Horizon Manipulation of Unknown Objects via Task and Motion Planning with Estimated Affordances
We present a strategy for designing and building very general robot mani...
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10/02/2020
Integrated Task and Motion Planning
The problem of planning for a robot that operates in environments contai...
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06/08/2020
Learning compositional models of robot skills for task and motion planning
The objective of this work is to augment the basic abilities of a robot ...
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02/06/2020
Scalable and Probabilistically Complete Planning for Robotic Spatial Extrusion
There is increasing demand for automated systems that can fabricate 3D s...
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11/11/2019
Online Replanning in Belief Space for Partially Observable Task and Motion Problems
To solve multi-step manipulation tasks in the real world, an autonomous ...
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10/01/2018
Automated motion planning for robotic assembly of discrete architectural structures
While robotics for architectural-scale construction has made significant...
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03/02/2018
Active model learning and diverse action sampling for task and motion planning
The objective of this work is to augment the basic abilities of a robot ...
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02/23/2018
STRIPStream: Integrating Symbolic Planners and Blackbox Samplers
Many planning applications involve complex relationships defined on high...
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01/02/2018
Sampling-Based Methods for Factored Task and Motion Planning
This paper presents a general-purpose formulation of a large class of di...
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01/01/2017
STRIPS Planning in Infinite Domains
Many robotic planning applications involve continuous actions with highl...
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08/03/2016
Learning to Rank for Synthesizing Planning Heuristics
We investigate learning heuristics for domain-specific planning. Prior w...
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04/12/2016
