59 citations · 162 across the 17 of their papers we have counts for
17 papers
Robot Planning and Situation Handling with Active Perception
Austine Oloo, Zainab Altaweel, Yohei Hayamizu +9
Current robots are capable of computing plans to accomplish complex tasks. However, real-world environments are inherently open and dynamic, and unforeseen situations frequently ar…
LLM-GROP: Visually Grounded Robot Task and Motion Planning with Large Language Models
Xiaohan Zhang, Yan Ding, Yohei Hayamizu +6
Task planning and motion planning are two of the most important problems in robotics, where task planning methods help robots achieve high-level goals and motion planning methods m…
DKPROMPT: Domain Knowledge Prompting Vision-Language Models for Open-World Planning
Xiaohan Zhang, Zainab Altaweel, Yohei Hayamizu +6
Vision-language models (VLMs) have been applied to robot task planning problems, where the robot receives a task in natural language and generates plans based on visual inputs. Whi…
A Survey of Optimization-based Task and Motion Planning: From Classical To Learning Approaches
Zhigen Zhao, Shuo Cheng, Yan Ding +4
Task and Motion Planning (TAMP) integrates high-level task planning and low-level motion planning to equip robots with the autonomy to effectively reason over long-horizon, dynamic…
ORLA*: Mobile Manipulator-Based Object Rearrangement with Lazy A Star
Kai Gao, Zhaxizhuoma, Yan Ding +2
Effectively performing object rearrangement is an essential skill for mobile manipulators, e.g., setting up a dinner table or organizing a desk. A key challenge in such problems is…
Symbolic State Space Optimization for Long Horizon Mobile Manipulation Planning
Xiaohan Zhang, Yifeng Zhu, Yan Ding +4
In existing task and motion planning (TAMP) research, it is a common assumption that experts manually specify the state space for task-level planning. A well-developed state space…