5 papers · 1 filter
Prime the search: Using large language models for guiding geometric task and motion planning by warm-starting tree search
Dongryung Lee, Sejune Joo, Kimin Lee +1
The problem of relocating a set of objects to designated areas amidst movable obstacles can be framed as a Geometric Task and Motion Planning (G-TAMP) problem, a subclass of task a…
Towards Embodiment Scaling Laws in Robot Locomotion
Bo Ai, Liu Dai, Nico Bohlinger +7
Cross-embodiment generalization underpins the vision of building generalist embodied agents for any robot, yet its enabling factors remain poorly understood. We investigate embodim…
Hierarchical and Modular Network on Non-prehensile Manipulation in General Environments
Yoonyoung Cho, Junhyek Han, Jisu Han +1
For robots to operate in general environments like households, they must be able to perform non-prehensile manipulation actions such as toppling and rolling to manipulate ungraspab…
A low-cost and lightweight 6 DoF bimanual arm for dynamic and contact-rich manipulation
Jaehyung Kim, Jiho Kim, Dongryung Lee +2
Dynamic and contact-rich object manipulation, such as striking, snatching, or hammering, remains challenging for robotic systems due to hardware limitations. Most existing robots a…
PRESTO: Fast Motion Planning Using Diffusion Models Based on Key-Configuration Environment Representation
Mingyo Seo, Yoonyoung Cho, Yoonchang Sung +3
We introduce a learning-guided motion planning framework that generates seed trajectories using a diffusion model for trajectory optimization. Given a workspace, our method approxi…