4 papers
Kinodynamic Task and Motion Planning using VLM-guided and Interleaved Sampling
Minseo Kwon, Young J. Kim
Task and Motion Planning (TAMP) integrates high-level task planning with low-level motion feasibility, but existing methods are costly in long-horizon problems due to excessive mot…
A Dataset and Benchmark for Robotic Cloth Unfolding Grasp Selection: The ICRA 2024 Cloth Competition
Victor-Louis De Gusseme, Thomas Lips, Remko Proesmans +59
Robotic cloth manipulation suffers from a lack of standardized benchmarks and shared datasets for evaluating and comparing different approaches. To address this, we created a bench…
Adaptive Trajectory Refinement for Optimization-based Local Planning in Narrow Passages
Hahjin Lee, Young J. Kim
Trajectory planning for mobile robots in cluttered environments remains a major challenge due to narrow passages, where conventional methods often fail or generate suboptimal paths…
Fast and Accurate Task Planning using Neuro-Symbolic Language Models and Multi-level Goal Decomposition
Minseo Kwon, Yaesol Kim, Young J. Kim
In robotic task planning, symbolic planners using rule-based representations like PDDL are effective but struggle with long-sequential tasks in complicated environments due to expo…