4 papers
Optimal Constrained Task Planning as Mixed Integer Programming
Alphonsus Adu-Bredu, Nikhil Devraj, Odest Chadwicke Jenkins
For robots to successfully execute tasks assigned to them, they must be capable of planning the right sequence of actions. These actions must be both optimal with respect to a spec…
DANLI: Deliberative Agent for Following Natural Language Instructions
Yichi Zhang, Jianing Yang, Jiayi Pan +6
Recent years have seen an increasing amount of work on embodied AI agents that can perform tasks by following human language instructions. However, most of these agents are reactiv…
Probabilistic Inference in Planning for Partially Observable Long Horizon Problems
Alphonsus Adu-Bredu, Nikhil Devraj, Pin-Han Lin +2
For autonomous service robots to successfully perform long horizon tasks in the real world, they must act intelligently in partially observable environments. Most Task and Motion P…
Topologically-Informed Atlas Learning
Thomas Cohn, Nikhil Devraj, Odest Chadwicke Jenkins
We present a new technique that enables manifold learning to accurately embed data manifolds that contain holes, without discarding any topological information. Manifold learning a…