5 papers
The Open Motion Planning Library 2.0
Weihang Guo, Theodoros Tyrovouzis, Emiliano Flores +5
The Open Motion Planning Library (OMPL), first released in 2008, has become a cornerstone of the motion planning community, providing implementations of a wide range of state-of-th…
Using VLM Reasoning to Constrain Task and Motion Planning
Muyang Yan, Miras Mengdibayev, Ardon Floros +3
In task and motion planning, high-level task planning is done over an abstraction of the world to enable efficient search in long-horizon robotics problems. However, the feasibilit…
Python Bindings for a Large C++ Robotics Library: The Case of OMPL
Weihang Guo, Theodoros Tyrovouzis, Lydia E. Kavraki
Python bindings are a critical bridge between high-performance C++ libraries and the flexibility of Python, enabling rapid prototyping, reproducible experiments, and integration wi…
Efficient Multi-Robot Motion Planning for Manifold-Constrained Manipulators by Randomized Scheduling and Informed Path Generation
Weihang Guo, Zachary Kingston, Kaiyu Hang +1
Multi-robot motion planning for high degree-of-freedom manipulators in shared, constrained, and narrow spaces is a complex problem and essential for many scenarios such as construc…
CaStL: Constraints as Specifications through LLM Translation for Long-Horizon Task and Motion Planning
Weihang Guo, Zachary Kingston, Lydia E. Kavraki
Large Language Models (LLMs) have demonstrated remarkable ability in long-horizon Task and Motion Planning (TAMP) by translating clear and straightforward natural language problems…