4 papers · 1 filter
Hypothesis-driven Model Expansion under Uncertainty for Open-World Robot Planning
Anxing Xiao, Hanbo Zhang, Tianrun Hu +1
We consider an open-world planning setting in which service robots must operate in unknown environments with incomplete knowledge of objects and actions. Traditional closed-world a…
Visibility-Aware Mobile Grasping in Dynamic Environments
Tianrun Hu, Anxing Xiao, David Hsu +1
This paper addresses the problem of mobile grasping in dynamic, unknown environments where a robot must operate under a limited field-of-view. The fundamental challenge is the inhe…
Differentiable Particles for General-Purpose Deformable Object Manipulation
Siwei Chen, Yiqing Xu, Cunjun Yu +2
Deformable object manipulation is a long-standing challenge in robotics. While existing approaches often focus narrowly on a specific type of object, we seek a general-purpose algo…
LLM-State: Open World State Representation for Long-horizon Task Planning with Large Language Model
Siwei Chen, Anxing Xiao, David Hsu
This work addresses the problem of long-horizon task planning with the Large Language Model (LLM) in an open-world household environment. Existing works fail to explicitly track ke…