8 citations · 11 across the 4 of their papers we have counts for
5 papers
Accelerating Integrated Task and Motion Planning with Neural Feasibility Checking
Lei Xu, Tianyu Ren, Georgia Chalvatzaki +1
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…
Learning Geometric Constraints in Task and Motion Planning
Tianyu Ren, Alexander Imani Cowen-Rivers, Haitham Bou Ammar +1
Searching for bindings of geometric parameters in task and motion planning (TAMP) is a finite-horizon stochastic planning problem with high-dimensional decision spaces. A robot man…
Extended Tree Search for Robot Task and Motion Planning
Tianyu Ren, Georgia Chalvatzaki, Jan Peters
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…
Structured Policy Representation: Imposing Stability in arbitrarily conditioned dynamic systems
Julen Urain, Davide Tateo, Tianyu Ren +1
We present a new family of deep neural network-based dynamic systems. The presented dynamics are globally stable and can be conditioned with an arbitrary context state. We show how…
Fast Skill Learning for Variable Compliance Robotic Assembly
Tianyu Ren, Yunfei Dong, Dan Wu +1
The robotic assembly represents a group of benchmark problems for reinforcement learning and variable compliance control that features sophisticated contact manipulation. One of th…