4 papers
SkillWrapper: Generative Predicate Invention for Task-level Robot Planning
Ziyi Yang, Benned Hedegaard, Ahmed Jaafar +8
Generalizing from individual skill executions to long-horizon tasks is a core challenge in building autonomous robots. A promising direction is learning high-level, symbolic repres…
Creative Robot Tool Use by Counterfactual Reasoning
M. Tuluhan Akbulut, Varun Satheesh, Ahmed Jaafar +5
We propose a causal reasoning framework for creative robot tool use where a suitable tool for a task is correctly identified for use beyond its primary objectives. The proposed fra…
Task and Skill Planning: Hierarchical Robot Planning with Black-Box Skills
Benned Hedegaard, Yichen Wei, Ahmed Jaafar +4
Task and motion planning (TAMP) is a well-established approach for solving long-horizon robot planning problems. Although TAMP methods have historically assumed that each task-leve…
λ: A Benchmark for Data-Efficiency in Long-Horizon Indoor Mobile Manipulation Robotics
Ahmed Jaafar, Shreyas Sundara Raman, Sudarshan Harithas +7
Learning to execute long-horizon mobile manipulation tasks is crucial for advancing robotics in household and workplace settings. However, current approaches are typically data-ine…