59 citations · 162 across the 17 of their papers we have counts for
6 papers · 1 filter
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…
ARDIE: AR, Dialogue, and Eye Gaze Policies for Human-Robot Collaboration
Chelsea Zou, Kishan Chandan, Yan Ding +1
Human-robot collaboration (HRC) has become increasingly relevant in industrial, household, and commercial settings. However, the effectiveness of such collaborations is highly depe…
Integrating Action Knowledge and LLMs for Task Planning and Situation Handling in Open Worlds
Yan Ding, Xiaohan Zhang, Saeid Amiri +5
Task planning systems have been developed to help robots use human knowledge (about actions) to complete long-horizon tasks. Most of them have been developed for "closed worlds" wh…
Grounding Classical Task Planners via Vision-Language Models
Xiaohan Zhang, Yan Ding, Saeid Amiri +4
Classical planning systems have shown great advances in utilizing rule-based human knowledge to compute accurate plans for service robots, but they face challenges due to the stron…
Task and Motion Planning with Large Language Models for Object Rearrangement
Yan Ding, Xiaohan Zhang, Chris Paxton +1
Multi-object rearrangement is a crucial skill for service robots, and commonsense reasoning is frequently needed in this process. However, achieving commonsense arrangements requir…