389 citations · 2.9k across the 113 of their papers we have counts for
126 papers
RAPID: Robot Agentic Programming from Demonstrations
Yuyao Liu, Jiayuan Mao, David Hsu +2
Coding agents have demonstrated enormous success in solving complex programming problems. To leverage their potential for robot systems, this work introduces Robot Agentic Programm…
Which Reconstruction Model Should a Robot Use? Routing Image-to-3D Models for Cost-Aware Robotic Manipulation
Akash Anand, Aditya Agarwal, Leslie Pack Kaelbling
Robotic manipulation tasks require 3D mesh reconstructions of varying quality: dexterous manipulation demands fine-grained surface detail, while collision-free planning tolerates c…
TiPToP: A Modular Open-Vocabulary Robot Manipulation System That Plans
William Shen, Nishanth Kumar, Sahit Chintalapudi +8
We present TiPToP, a modular manipulation system that integrates pretrained foundation models with a GPU-accelerated Task and Motion Planner to solve tasks directly from RGB images…
"Set It Up": Functional Object Arrangement with Compositional Generative Models (Journal Version)
Yiqing Xu, Jiayuan Mao, Linfeng Li +4
Functional object arrangement (FORM) is the task of arranging objects to fulfill a function, e.g., "set up a dining table for two". One key challenge here is that the instructions…
Rational Inverse Reasoning: Few-Shot Imitation by Inferring Intent through Planning
Ben Zandonati, Tomás Lozano-Pérez, Leslie Pack Kaelbling
Humans can learn a new manipulation task from one or two demonstrations and then perform it in a new room, with new objects, under new constraints. Modern robot imitation learning,…
LLM-Guided Probabilistic Program Induction for POMDP Model Estimation
Aidan Curtis, Hao Tang, Thiago Veloso +4
Partially Observable Markov Decision Processes (POMDPs) model decision making under uncertainty. While there are many approaches to approximately solving POMDPs, we aim to address…