11 papers
Novelty-based Tree-of-Thought Search for LLM Reasoning and Planning
Leon Hamm, Zlatan Ajanovic
Although advances such as chain-of-thought, tree-of-thought or reinforcement learning have improved the performance of LLMs in reasoning and planning tasks, they are still brittle…
SYMBOLIZER: Symbolic Model-free Task Planning with VLMs
Sami Azirar, Zlatan Ajanovic, Hermann Blum
Traditional Task and Motion Planning (TAMP) systems depend on physics models for motion planning and discrete symbolic models for task planning. Although physics model are often av…
Sequentially Teaching Sequential Tasks : Teaching Robots Long-horizon Manipulation Skills
Zlatan AjanoviÄ, Ravi Prakash, Leandro de Souza Rosa +1
Learning from demonstration has proved itself useful for teaching robots complex skills with high sample efficiency. However, teaching long-horizon tasks with multiple skills is ch…
ASkDAgger: Active Skill-level Data Aggregation for Interactive Imitation Learning
Jelle Luijkx, Zlatan AjanoviÄ, Laura Ferranti +1
Human teaching effort is a significant bottleneck for the broader applicability of interactive imitation learning. To reduce the number of required queries, existing methods employ…
Search-Based Robot Motion Planning With Distance-Based Adaptive Motion Primitives
Benjamin Kraljusic, Zlatan Ajanovic, Nermin Covic +1
This work proposes a motion planning algorithm for robotic manipulators that combines sampling-based and search-based planning methods. The core contribution of the proposed approa…
Mode Collapse Happens: Evaluating Critical Interactions in Joint Trajectory Prediction Models
Maarten Hugenholtz, Anna Meszaros, Jens Kober +1
Autonomous Vehicle decisions rely on multimodal prediction models that account for multiple route options and the inherent uncertainty in human behavior. However, models can suffer…