3 papers
cs.RO2026
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…
cs.RO2024
Bi-Level Belief Space Search for Compliant Part Mating Under Uncertainty
Sahit Chintalapudi, Leslie Kaelbling, Tomas Lozano-Perez
The problem of mating two parts with low clearance remains difficult for autonomous robots. We present bi-level belief assembly (BILBA), a model-based planner that computes a seque…
cs.RO2019
Online Motion Planning Over Multiple Homotopy Classes with Gaussian Process Inference
Keshav Kolur, Sahit Chintalapudi, Byron Boots +1
Efficient planning in dynamic and uncertain environments is a fundamental challenge in robotics. In the context of trajectory optimization, the feasibility of paths can change as t…