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cs.RO2026
Contextual Graph Representations for Task-Driven 3D Perception and Planning
Christopher Agia
Recent advances in computer vision facilitate fully automatic extraction of object-centric relational representations from visual-inertial data. These state representations, dubbed…
cs.RO2024
Points2Plans: From Point Clouds to Long-Horizon Plans with Composable Relational Dynamics
Yixuan Huang, Christopher Agia, Jimmy Wu +2
We present Points2Plans, a framework for composable planning with a relational dynamics model that enables robots to solve long-horizon manipulation tasks from partial-view point c…
cs.RO2023
Semantic Anomaly Detection with Large Language Models
Amine Elhafsi, Rohan Sinha, Christopher Agia +3
As robots acquire increasingly sophisticated skills and see increasingly complex and varied environments, the threat of an edge case or anomalous failure is ever present. For examp…