20 citations · 39 across the 6 of their papers we have counts for
11 papers
Guiding Long-Horizon Task and Motion Planning with Vision Language Models
Zhutian Yang, Caelan Garrett, Dieter Fox +2
Vision-Language Models (VLM) can generate plausible high-level plans when prompted with a goal, the context, an image of the scene, and any planning constraints. However, there is…
IntervenGen: Interventional Data Generation for Robust and Data-Efficient Robot Imitation Learning
Ryan Hoque, Ajay Mandlekar, Caelan Garrett +2
Imitation learning is a promising paradigm for training robot control policies, but these policies can suffer from distribution shift, where the conditions at evaluation time diffe…
Cooperative Task and Motion Planning for Multi-Arm Assembly Systems
Jingkai Chen, Jiaoyang Li, Yijiang Huang +7
Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs.…
Long-Horizon Manipulation of Unknown Objects via Task and Motion Planning with Estimated Affordances
Aidan Curtis, Xiaolin Fang, Leslie Pack Kaelbling +2
We present a strategy for designing and building very general robot manipulation systems involving the integration of a general-purpose task-and-motion planner with engineered and…
Robotic additive construction of bar structures: Unified sequence and motion planning
Yijiang Huang, Caelan Garrett, Ian Ting +2
Additive robotic construction of building-scale discrete bar structures, such as trusses and space frames, is increasingly attractive due to the potential improvements in efficienc…
Integrated Task and Motion Planning
Caelan Reed Garrett, Rohan Chitnis, Rachel Holladay +4
The problem of planning for a robot that operates in environments containing a large number of objects, taking actions to move itself through the world as well as to change the sta…