5 papers
WorkBenchMark: A LEGO-Based Assembly Benchmark with an Assembly-by-Disassembly Baseline for the Smart Manufacturing League
Wenbo Ma, Daniel Swoboda, Matteo Tschesche +1
We introduceWorkBenchMark, a LEGO Duplo-based robotic assembly benchmark motivated by the RoboCup Smart Manufacturing League. Robotic assembly couples low-level manipulation with t…
Learning Bilevel Policies over Symbolic World Models for Long-Horizon Planning
Dillon Z. Chen, Till Hofmann, Toryn Q. Klassen +1
We tackle the challenge of building embodied AI agents that can reliably solve long-horizon planning problems. Imitation learning from demonstrations has shown itself to be effecti…
Satisficing and Optimal Generalised Planning via Goal Regression (Extended Version)
Dillon Z. Chen, Till Hofmann, Toryn Q. Klassen +1
Generalised planning (GP) refers to the task of synthesising programs that solve families of related planning problems. We introduce a novel, yet simple method for GP: given a set…
Learning Generalized Policies for Fully Observable Non-Deterministic Planning Domains
Till Hofmann, Hector Geffner
General policies represent reactive strategies for solving large families of planning problems like the infinite collection of solvable instances from a given domain. Methods for l…
Towards Bridging the Gap between High-Level Reasoning and Execution on Robots
Till Hofmann
When reasoning about actions, e.g., by means of task planning or agent programming with Golog, the robot's actions are typically modeled on an abstract level, where complex actions…