4 papers
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…
PRISM-DP: Spatial Pose-based Observations for Diffusion-Policies via Segmentation, Mesh Generation, and Pose Tracking
Xiatao Sun, Yinxing Chen, Daniel Rakita
Diffusion policies generate robot motions by learning to denoise action-space trajectories conditioned on observations. These observations are commonly streams of RGB images, whose…
Dynamic Rank Adjustment in Diffusion Policies for Efficient and Flexible Training
Xiatao Sun, Shuo Yang, Yinxing Chen +3
Diffusion policies trained via offline behavioral cloning have recently gained traction in robotic motion generation. While effective, these policies typically require a large numb…
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…