5 papers · 1 filter
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…
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…
Task and Skill Planning: Hierarchical Robot Planning with Black-Box Skills
Benned Hedegaard, Yichen Wei, Ziyi Yang +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…
Compositional Zero-Shot Learning for Attribute-Based Object Reference in Human-Robot Interaction
Peng Gao, Ahmed Jaafar, Brian Reily +2
Language-enabled robots have been widely studied over the past years to enable natural human-robot interaction and teaming in various real-world applications. Language-enabled robo…