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cs.RO2026
ScheduleStream: Temporal Planning with Samplers for GPU-Accelerated Multi-Arm Task and Motion Planning & Scheduling
Caelan Garrett, Fabio Ramos
Bimanual and humanoid robots are appealing because of their human-like ability to leverage multiple arms to efficiently complete tasks. However, controlling multiple arms at once i…
cs.RO2025
Differentiable GPU-Parallelized Task and Motion Planning
William Shen, Caelan Garrett, Nishanth Kumar +5
Planning long-horizon robot manipulation requires making discrete decisions about which objects to interact with and continuous decisions about how to interact with them. A robot p…
cs.RO2024
STAMP: Differentiable Task and Motion Planning via Stein Variational Gradient Descent
Yewon Lee, Andrew Z. Li, Philip Huang +7
Planning for sequential robotics tasks often requires integrated symbolic and geometric reasoning. TAMP algorithms typically solve these problems by performing a tree search over h…