4 papers
APIVOT: Adaptive Planning with Interleaved Vision-Language Thoughts
Emily Jin, Joy Hsu, Yiqing Xu +3
Long-horizon robot planning requires jointly reasoning over semantic task structure and geometric feasibility. To successfully execute a task, a robot must decompose goals, select…
From Programs to Poses: Factored Real-World Scene Generation via Learned Program Libraries
Joy Hsu, Emily Jin, Jiajun Wu +1
Real-world scenes, such as those in ScanNet, are difficult to capture, with highly limited data available. Generating realistic scenes with varied object poses remains an open and…
Predicate Hierarchies Improve Few-Shot State Classification
Emily Jin, Joy Hsu, Jiajun Wu
State classification of objects and their relations is core to many long-horizon tasks, particularly in robot planning and manipulation. However, the combinatorial explosion of pos…
MARPLE: A Benchmark for Long-Horizon Inference
Emily Jin, Zhuoyi Huang, Jan-Philipp Fränken +7
Reconstructing past events requires reasoning across long time horizons. To figure out what happened, we need to use our prior knowledge about the world and human behavior and draw…