Publications (56)
Learning to Bridge the Gap: Efficient Novelty Recovery with Planning and Reinforcement Learning
Alicia Li, Nishanth Kumar, Tomás Lozano-Pérez +1
SceneComplete: Open-World 3D Scene Completion in Cluttered Real World Environments for Robot Manipulation
Aditya Agarwal, Gaurav Singh, Bipasha Sen +2
One-Shot Manipulation Strategy Learning by Making Contact Analogies
Yuyao Liu, Jiayuan Mao, Joshua Tenenbaum +2
Focused Model-Learning and Planning for Non-Gaussian Continuous State-Action Systems
Zi Wang, Stefanie Jegelka, Leslie Pack Kaelbling +1
Guiding Long-Horizon Task and Motion Planning with Vision Language Models
Zhutian Yang, Caelan Garrett, Dieter Fox +2
Specifying and achieving goals in open uncertain robot-manipulation domains
Leslie Pack Kaelbling, Alex LaGrassa, Tomás Lozano-Pérez
Keypoint Abstraction using Large Models for Object-Relative Imitation Learning
Xiaolin Fang, Bo-Ruei Huang, Jiayuan Mao +4
What Planning Problems Can A Relational Neural Network Solve?
Jiayuan Mao, Tomás Lozano-Pérez, Joshua B. Tenenbaum +1
Visual Prediction of Priors for Articulated Object Interaction
Caris Moses, Michael Noseworthy, Leslie Pack Kaelbling +2
Representation, learning, and planning algorithms for geometric task and motion planning
Beomjoon Kim, Luke Shimanuki, Leslie Pack Kaelbling +1
Partially Observable Task and Motion Planning with Uncertainty and Risk Awareness
Aidan Curtis, George Matheos, Nishad Gothoskar +4
From Pixels to Predicates: Learning Symbolic World Models via Pretrained Vision-Language Models
Ashay Athalye, Nishanth Kumar, Tom Silver +4
Open-World Task and Motion Planning via Vision-Language Model Generated Constraints
Nishanth Kumar, William Shen, Fabio Ramos +4
Planning for Multi-stage Forceful Manipulation
Rachel Holladay, Tomás Lozano-Pérez, Alberto Rodriguez
Learning What Information to Give in Partially Observed Domains
Rohan Chitnis, Leslie Pack Kaelbling, Tomás Lozano-Pérez
Differentiable GPU-Parallelized Task and Motion Planning
William Shen, Caelan Garrett, Nishanth Kumar +5
STRIPS Planning in Infinite Domains
Caelan Reed Garrett, Tomás Lozano-Pérez, Leslie Pack Kaelbling
Bayesian Optimization with Exponential Convergence
Kenji Kawaguchi, Leslie Pack Kaelbling, Tomás Lozano-Pérez
Learning Quickly to Plan Quickly Using Modular Meta-Learning
Rohan Chitnis, Leslie Pack Kaelbling, Tomás Lozano-Pérez
Object-based World Modeling in Semi-Static Environments with Dependent Dirichlet-Process Mixtures
Lawson L. S. Wong, Thanard Kurutach, Leslie Pack Kaelbling +1
Learning When to Quit: Meta-Reasoning for Motion Planning
Yoonchang Sung, Leslie Pack Kaelbling, Tomás Lozano-Pérez
Towards Practical Finite Sample Bounds for Motion Planning in TAMP
Seiji Shaw, Aidan Curtis, Leslie Pack Kaelbling +2
Learning Efficient Abstract Planning Models that Choose What to Predict
Nishanth Kumar, Willie McClinton, Rohan Chitnis +3
Long-Horizon Manipulation of Unknown Objects via Task and Motion Planning with Estimated Affordances
Aidan Curtis, Xiaolin Fang, Leslie Pack Kaelbling +2
Active model learning and diverse action sampling for task and motion planning
Zi Wang, Caelan Reed Garrett, Leslie Pack Kaelbling +1
Learning compositional models of robot skills for task and motion planning
Zi Wang, Caelan Reed Garrett, Leslie Pack Kaelbling +1
Streaming Flow Policy: Simplifying diffusion/flow-matching policies by treating action trajectories as flow trajectories
Sunshine Jiang, Xiaolin Fang, Nicholas Roy +3
Combining Planning and Diffusion for Mobility with Unknown Dynamics
Yajvan Ravan, Zhutian Yang, Tao Chen +2
Robust Planning for Multi-stage Forceful Manipulation
Rachel Holladay, Tomás Lozano-Pérez, Alberto Rodriguez
Fully Persistent Spatial Data Structures for Efficient Queries in Path-Dependent Motion Planning Applications
Sathwik Karnik, Tomás Lozano-Pérez, Leslie Pack Kaelbling +1
LLM-Guided Probabilistic Program Induction for POMDP Model Estimation
Aidan Curtis, Hao Tang, Thiago Veloso +4
Practice Makes Perfect: Planning to Learn Skill Parameter Policies
Nishanth Kumar, Tom Silver, Willie McClinton +5
Learning Reusable Manipulation Strategies
Jiayuan Mao, Joshua B. Tenenbaum, Tomás Lozano-Pérez +1
Sequence-Based Plan Feasibility Prediction for Efficient Task and Motion Planning
Zhutian Yang, Caelan Reed Garrett, Tomás Lozano-Pérez +2
Functional Risk Minimization
Ferran Alet, Clement Gehring, Tomás Lozano-Pérez +3
Modular meta-learning
Ferran Alet, Tomás Lozano-Pérez, Leslie P. Kaelbling
Sampling-Based Methods for Factored Task and Motion Planning
Caelan Reed Garrett, Tomás Lozano-Pérez, Leslie Pack Kaelbling
Embodied Uncertainty-Aware Object Segmentation
Xiaolin Fang, Leslie Pack Kaelbling, Tomás Lozano-Pérez
Learning Rational Subgoals from Demonstrations and Instructions
Zhezheng Luo, Jiayuan Mao, Jiajun Wu +3
Compositional Diffusion-Based Continuous Constraint Solvers
Zhutian Yang, Jiayuan Mao, Yilun Du +4
Active Learning of Abstract Plan Feasibility
Michael Noseworthy, Caris Moses, Isaiah Brand +4
Scalable and Probabilistically Complete Planning for Robotic Spatial Extrusion
Caelan Reed Garrett, Yijiang Huang, Tomás Lozano-Pérez +1
Integrating Human-Provided Information Into Belief State Representation Using Dynamic Factorization
Rohan Chitnis, Leslie Pack Kaelbling, Tomás Lozano-Pérez
Trust the PRoC3S: Solving Long-Horizon Robotics Problems with LLMs and Constraint Satisfaction
Aidan Curtis, Nishanth Kumar, Jing Cao +2
PDDLStream: Integrating Symbolic Planners and Blackbox Samplers via Optimistic Adaptive Planning
Caelan Reed Garrett, Tomás Lozano-Pérez, Leslie Pack Kaelbling
PDSketch: Integrated Planning Domain Programming and Learning
Jiayuan Mao, Tomás Lozano-Pérez, Joshua B. Tenenbaum +1
DiMSam: Diffusion Models as Samplers for Task and Motion Planning under Partial Observability
Xiaolin Fang, Caelan Reed Garrett, Clemens Eppner +3
Look before you sweep: Visibility-aware motion planning
Gustavo Goretkin, Leslie Pack Kaelbling, Tomás Lozano-Pérez
Visibility-Aware Navigation Among Movable Obstacles
Jose Muguira-Iturralde, Aidan Curtis, Yilun Du +2
Integrated Task and Motion Planning
Caelan Reed Garrett, Rohan Chitnis, Rachel Holladay +4
Online Replanning in Belief Space for Partially Observable Task and Motion Problems
Caelan Reed Garrett, Chris Paxton, Tomás Lozano-Pérez +2
TiPToP: A Modular Open-Vocabulary Robot Manipulation System That Plans
William Shen, Nishanth Kumar, Sahit Chintalapudi +8
Embodied Lifelong Learning for Task and Motion Planning
Jorge Mendez-Mendez, Leslie Pack Kaelbling, Tomás Lozano-Pérez
Provably Safe Robot Navigation with Obstacle Uncertainty
Brian Axelrod, Leslie Pack Kaelbling, Tomás Lozano-Pérez
Rational Inverse Reasoning: Few-Shot Imitation by Inferring Intent through Planning
Ben Zandonati, Tomás Lozano-Pérez, Leslie Pack Kaelbling
Learning Compact Models for Planning with Exogenous Processes
Rohan Chitnis, Tomás Lozano-Pérez