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Search, Ground, Plan: Functional Sufficiency for Task and Motion Planning under Incomplete Scene Knowledge
Narendhiran Vijayakumar, Nav Singhal, Girish Varma +1
Foundation models (FMs) have expanded task and motion planning (TAMP) to manipulation problems specified through language and visual observations. However, incomplete scene knowled…
Deciding If, When, and Where to Replan for Robust Manipulation
Puru Ojha, Narendhiran Vijayakumar, Nav Singhal +2
Foundation-model (FM) based task and motion planning (TAMP) methods typically assume that the full scene is known before planning. In long-horizon manipulation, however, relevant o…
Learning Motion Feasibility from Point Clouds in Cluttered Environments
Sajid Ansari, Arthi, Girish Varma +1
Motion feasibility prediction plays a central role in robotics, particularly in task and motion planning and manipulation. A major bottleneck for this problem in cluttered environm…