6 papers
A Framework for Motion Planning with Temporal Logic Precedence Specifications via Augmented Graphs of Convex Sets
Shilin You, Gael Luna, Tyler H. Summers
We present a framework for planning trajectories that avoid obstacles and satisfy logical precedence constraints expressed with a fragment of signal temporal logic (STL). Our appro…
Pruning the Augmented Graphs of Convex Sets for Scalable Joint Task and Motion Planning
Gael Luna, Tyler Summers
We present top-down and bottom-up approaches for solving large-scale instances of joint task and motion planning problems in Graphs of Convex Sets (GCS). Planning what tasks to per…
HRT1: One-Shot Human-to-Robot Trajectory Transfer for Mobile Manipulation
Sai Haneesh Allu, Jishnu Jaykumar P, Ninad Khargonkar +3
We introduce a novel system for human-to-robot trajectory transfer that enables robots to manipulate objects by learning from human demonstration videos. The system consists of fou…
Motion Planning with Precedence Specifications via Augmented Graphs of Convex Sets
Shilin You, Gael Luna, Juned Shaikh +4
We present an algorithm for planning trajectories that avoid obstacles and satisfy key-door precedence specifications expressed with a fragment of signal temporal logic. Our method…
Build Once, Monitor Continuously: Persistent Semantic Mapping via Autonomous Exploration and Open-Vocabulary Object Updates
Sai Haneesh Allu, Itay Kadosh, Tyler Summers +1
Persistent semantic monitoring of indoor spaces such as warehouses, hospitals, and offices requires a robot to repeatedly monitor an environment and track how objects change over t…
Grasping Trajectory Optimization with Point Clouds
Yu Xiang, Sai Haneesh Allu, Rohith Peddi +2
We introduce a new trajectory optimization method for robotic grasping based on a point-cloud representation of robots and task spaces. In our method, robots are represented by 3D…