5 papers
Write Once, Plan Many: Building Reusable Visual Planning Systems from One Scene
Ruixiao Yang, Yilun Hao, Mingxin Yu +2
Vision-language models (VLMs) can reason about visual planning tasks, but querying them for every instance incurs repeated inference cost and latency. Generating reusable planning…
Coverage Aware Active Evaluation for Failure Discovery with Paired Systems
Anjali Parashar, Rachel Luo, Apoorva Sharma +6
Autonomous systems can fail in rare and heterogeneous ways, making real-world failure discovery difficult under limited testing budgets. Although cheaper proxies such as simulators…
Heuristic Search as Language-Guided Program Optimization
Mingxin Yu, Ruixiao Yang, Chuchu Fan
Large Language Models (LLMs) have advanced Automated Heuristic Design (AHD) in combinatorial optimization (CO) in the past few years. However, existing discovery pipelines often re…
Rigid Body Path Planning using Mixed-Integer Linear Programming
Mingxin Yu, Chuchu Fan
Navigating rigid body objects through crowded environments can be challenging, especially when narrow passages are presented. Existing sampling-based planners and optimization-base…
Efficient Motion Planning for Manipulators with Control Barrier Function-Induced Neural Controller
Mingxin Yu, Chenning Yu, M-Mahdi Naddaf-Sh +3
Sampling-based motion planning methods for manipulators in crowded environments often suffer from expensive collision checking and high sampling complexity, which make them difficu…