2 citations · 2 across the 6 of their papers we have counts for
5 papers · 1 filter
Task-Directed Exploration in Continuous POMDPs for Robotic Manipulation of Articulated Objects
Aidan Curtis, Leslie Kaelbling, Siddarth Jain
Representing and reasoning about uncertainty is crucial for autonomous agents acting in partially observable environments with noisy sensors. Partially observable Markov decision p…
Visibility-Aware Navigation Among Movable Obstacles
Jose Muguira-Iturralde, Aidan Curtis, Yilun Du +2
In this paper, we examine the problem of visibility-aware robot navigation among movable obstacles (VANAMO). A variant of the well-known NAMO robotic planning problem, VANAMO puts…
Let's Handle It: Generalizable Manipulation of Articulated Objects
Zhutian Yang, Aidan Curtis
In this project we present a framework for building generalizable manipulation controller policies that map from raw input point clouds and segmentation masks to joint velocities.…
Discovering State and Action Abstractions for Generalized Task and Motion Planning
Aidan Curtis, Tom Silver, Joshua B. Tenenbaum +2
Generalized planning accelerates classical planning by finding an algorithm-like policy that solves multiple instances of a task. A generalized plan can be learned from a few train…
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…