7 papers
Constraints-of-Thought: A Framework for Constrained Reasoning in Language-Model-Guided Search
Kamel Alrashedy, Vriksha Srihari, Zulfiqar Zaidi +3
While researchers have made significant progress in enabling large language models (LLMs) to perform multi-step planning, LLMs struggle to ensure that those plans align with high-l…
Faster Model Predictive Control via Self-Supervised Initialization Learning
Zhaoxin Li, Xiaoke Wang, Letian Chen +3
Model Predictive Control (MPC) is widely used in robot control by optimizing a sequence of control outputs over a finite-horizon. Computational approaches for MPC include determini…
Improvement of Optimization using Learning Based Models in Mixed Integer Linear Programming Tasks
Xiaoke Wang, Batuhan Altundas, Zhaoxin Li +2
Mixed Integer Linear Programs (MILPs) are essential tools for solving planning and scheduling problems across critical industries such as construction, manufacturing, and logistics…
Learning Wheelchair Tennis Navigation from Broadcast Videos with Domain Knowledge Transfer and Diffusion Motion Planning
Zixuan Wu, Zulfiqar Zaidi, Adithya Patil +2
In this paper, we propose a novel and generalizable zero-shot knowledge transfer framework that distills expert sports navigation strategies from web videos into robotic systems wi…
Learning Diverse Robot Striking Motions with Diffusion Models and Kinematically Constrained Gradient Guidance
Kin Man Lee, Sean Ye, Qingyu Xiao +5
Advances in robot learning have enabled robots to generate skills for a variety of tasks. Yet, robot learning is typically sample inefficient, struggles to learn from data sources…
Generating CAD Code with Vision-Language Models for 3D Designs
Kamel Alrashedy, Pradyumna Tambwekar, Zulfiqar Zaidi +3
Generative AI has transformed the fields of Design and Manufacturing by providing efficient and automated methods for generating and modifying 3D objects. One approach involves usi…