5 papers · 1 filter
Robot Planning and Situation Handling with Active Perception
Austine Oloo, Zainab Altaweel, Yohei Hayamizu +9
Current robots are capable of computing plans to accomplish complex tasks. However, real-world environments are inherently open and dynamic, and unforeseen situations frequently ar…
LLM-GROP: Visually Grounded Robot Task and Motion Planning with Large Language Models
Xiaohan Zhang, Yan Ding, Yohei Hayamizu +6
Task planning and motion planning are two of the most important problems in robotics, where task planning methods help robots achieve high-level goals and motion planning methods m…
ORLA*: Mobile Manipulator-Based Object Rearrangement with Lazy A Star
Kai Gao, Zhaxizhuoma, Yan Ding +2
Effectively performing object rearrangement is an essential skill for mobile manipulators, e.g., setting up a dinner table or organizing a desk. A key challenge in such problems is…
A Survey of Optimization-based Task and Motion Planning: From Classical To Learning Approaches
Zhigen Zhao, Shuo Cheng, Yan Ding +4
Task and Motion Planning (TAMP) integrates high-level task planning and low-level motion planning to equip robots with the autonomy to effectively reason over long-horizon, dynamic…
Robot Task Planning and Situation Handling in Open Worlds
Yan Ding, Xiaohan Zhang, Saeid Amiri +4
Automated task planning algorithms have been developed to help robots complete complex tasks that require multiple actions. Most of those algorithms have been developed for "closed…