3 papers
cs.RO2026
I2CD: Direct Image-to-Convex Decomposition for Simulation-Ready Collision Geometry
Qian Wang, Liam Merz Hoffmeister, Brian Scassellati +1
Physics simulators and motion planners require convex collision geometry, yet image-to-3D generative models output dense, frequently non-manifold visual meshes. Bridging the two to…
cs.RO2026
Towards Zero-Knowledge Task Planning via a Language-based Approach
Liam Merz Hoffmeister, Brian Scassellati, Daniel Rakita
In this work, we introduce and formalize the Zero-Knowledge Task Planning (ZKTP) problem, i.e., formulating a sequence of actions to achieve some goal without task-specific knowled…
cs.RO2024
Sequential Discrete Action Selection via Blocking Conditions and Resolutions
Liam Merz Hoffmeister, Brian Scassellati, Daniel Rakita
In this work, we introduce a strategy that frames the sequential action selection problem for robots in terms of resolving \textit{blocking conditions}, i.e., situations that imped…