4 papers · 1 filter
FEIJOA: Task-Driven Grounding and Execution for Mobile Manipulation
Aditya Agarwal, William Shen, Sahit Chintalapudi +6
A mobile manipulator asked to "put the toys away in the toy box" must decide which objects are toys and which container the user means, then find base poses, grasps, and placements…
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…
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…
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…