8 citations · 10 across the 3 of their papers we have counts for
3 papers
cuRobo: Parallelized Collision-Free Minimum-Jerk Robot Motion Generation
Balakumar Sundaralingam, Siva Kumar Sastry Hari, Adam Fishman +9
This paper explores the problem of collision-free motion generation for manipulators by formulating it as a global motion optimization problem. We develop a parallel optimization t…
Human-in-the-Loop Task and Motion Planning for Imitation Learning
Ajay Mandlekar, Caelan Garrett, Danfei Xu +1
Imitation learning from human demonstrations can teach robots complex manipulation skills, but is time-consuming and labor intensive. In contrast, Task and Motion Planning (TAMP) s…
Learning to Rank for Synthesizing Planning Heuristics
Caelan Reed Garrett, Leslie Pack Kaelbling, Tomas Lozano-Perez
We investigate learning heuristics for domain-specific planning. Prior work framed learning a heuristic as an ordinary regression problem. However, in a greedy best-first search, t…