Learning to guide task and motion planning using score-space representation

26 July 2018

Tomas Lozano-Perez

Papers citing "Learning to guide task and motion planning using score-space representation"

48 / 48 papers shown

Title
Anticipatory Planning for Performant Long-Lived Robot in Large-Scale Home-Like Environments Md Ridwan Hossain Talukder Raihan Islam Arnob Gregory J. Stein 74 0 0 19 Nov 2024
Effort Allocation for Deadline-Aware Task and Motion Planning: A Metareasoning Approach Yoonchang Sung Shahaf S. Shperberg Qi Wang Peter Stone 38 0 0 08 Oct 2024
Anticipatory Task and Motion Planning Roshan Dhakal Duc M. Nguyen Tom Silver Xuesu Xiao Gregory J. Stein 34 1 0 18 Jul 2024
Collaborative Planar Pushing of Polytopic Objects with Multiple Robots in Complex Scenes Zili Tang Yuming Feng Meng Guo 37 1 0 13 May 2024
Closed Loop Interactive Embodied Reasoning for Robot Manipulation Michal Nazarczuk Jan Kristof Behrens Karla Stepanova Matej Hoffmann K. Mikolajczyk LM&Ro LRM 55 1 0 23 Apr 2024
A Survey of Optimization-based Task and Motion Planning: From Classical To Learning Approaches Zhigen Zhao Shuo Cheng Yan Ding Ziyi Zhou Shiqi Zhang Danfei Xu Ye Zhao 46 22 0 03 Apr 2024
Grammar Prompting for Domain-Specific Language Generation with Large Language Models Bailin Wang Zi Wang Xuezhi Wang Yuan Cao Rif A. Saurous Yoon Kim ReLM LRM 41 53 0 30 May 2023
Latent Space Planning for Multi-Object Manipulation with Environment-Aware Relational Classifiers Yixuan Huang Nichols Crawford Taylor Adam Conkey Weiyu Liu Tucker Hermans 39 7 0 18 May 2023
Learning to Reason over Scene Graphs: A Case Study of Finetuning GPT-2 into a Robot Language Model for Grounded Task Planning Georgia Chalvatzaki A. Younes Daljeet Nandha An T. Le Leonardo F. R. Ribeiro Iryna Gurevych LM&Ro LRM LLMAG 30 30 0 12 May 2023
Anticipatory Planning: Improving Long-Lived Planning by Estimating Expected Cost of Future Tasks Roshan Dhakal Md Ridwan Hossain Talukder Gregory J. Stein 16 3 0 08 May 2023
HyperBO+: Pre-training a universal prior for Bayesian optimization with hierarchical Gaussian processes Z. Fan Xinran Han Zehao Wang 26 4 0 20 Dec 2022
A Survey on the Integration of Machine Learning with Sampling-based Motion Planning T. McMahon Aravind Sivaramakrishnan Edgar Granados Kostas E. Bekris 19 14 0 15 Nov 2022
Policy-Guided Lazy Search with Feedback for Task and Motion Planning M. Khodeir Atharv Sonwane Ruthrash Hari Florian Shkurti 28 6 0 25 Oct 2022
Planning for Multi-Object Manipulation with Graph Neural Network Relational Classifiers Yixuan Huang Adam Conkey Tucker Hermans 17 26 0 24 Sep 2022
Parallel Monte Carlo Tree Search with Batched Rigid-body Simulations for Speeding up Long-Horizon Episodic Robot Planning Baichuan Huang Abdeslam Boularias Jingjin Yu 20 9 0 14 Jul 2022
TASKOGRAPHY: Evaluating robot task planning over large 3D scene graphs Christopher Agia Krishna Murthy Jatavallabhula M. Khodeir O. Mikšík Vibhav Vineet Mustafa Mukadam Liam Paull Florian Shkurti 27 68 0 11 Jul 2022
Pre-training helps Bayesian optimization too Zehao Wang George E. Dahl Kevin Swersky Chansoo Lee Zelda E. Mariet Zachary Nado Justin Gilmer Jasper Snoek Zoubin Ghahramani 28 9 0 07 Jul 2022
Learning Model Preconditions for Planning with Multiple Models A. LaGrassa Oliver Kroemer 16 8 0 11 Jun 2022
Accelerating Integrated Task and Motion Planning with Neural Feasibility Checking Lei Xu Tianyu Ren Georgia Chalvatzaki Jan Peters 10 15 0 20 Mar 2022
Representation, learning, and planning algorithms for geometric task and motion planning Beomjoon Kim Luke Shimanuki L. Kaelbling Tomás Lozano-Pérez 6 23 0 09 Mar 2022
Visually Grounded Task and Motion Planning for Mobile Manipulation Xiaohan Zhang Yifeng Zhu Yan Ding Yuke Zhu Peter Stone Shiqi Zhang 15 20 0 22 Feb 2022
Learning Geometric Constraints in Task and Motion Planning Tianyu Ren Alexander I. Cowen-Rivers H. Ammar Jan Peters 24 2 0 24 Jan 2022
Guided Imitation of Task and Motion Planning M. McDonald Dylan Hadfield-Menell 79 20 0 06 Dec 2021
Learning to Search in Task and Motion Planning with Streams M. Khodeir Ben Agro Florian Shkurti 30 26 0 25 Nov 2021
Discovering State and Action Abstractions for Generalized Task and Motion Planning Aidan Curtis Tom Silver J. Tenenbaum Tomas Lozano-Perez L. Kaelbling 41 27 0 23 Sep 2021
Geometric Task Networks: Learning Efficient and Explainable Skill Coordination for Object Manipulation Meng Guo Mathias Bürger 35 9 0 18 Sep 2021
Pre-trained Gaussian processes for Bayesian optimization Zehao Wang George E. Dahl Kevin Swersky Chansoo Lee Zachary Nado Justin Gilmer Jasper Snoek Zoubin Ghahramani 65 40 0 16 Sep 2021
Efficient Task Planning for Mobile Manipulation: a Virtual Kinematic Chain Perspective Ziyuan Jiao Zeyu Zhang Weiqi Wang David Han Song-Chun Zhu Yixin Zhu Hangxin Liu 14 19 0 03 Aug 2021
NeRP: Neural Rearrangement Planning for Unknown Objects A. H. Qureshi Arsalan Mousavian Chris Paxton Michael C. Yip Dieter Fox 29 61 0 02 Jun 2021
Custom Distribution for Sampling-Based Motion Planning Gabriel O. Flores-Aquino J. I. Vasquez-Gomez Octavio Gutiérrez-Frías OOD 27 4 0 21 Apr 2021
Reconstructing Interactive 3D Scenes by Panoptic Mapping and CAD Model Alignments Muzhi Han Zeyu Zhang Ziyuan Jiao Xu Xie Yixin Zhu Song-Chun Zhu Hangxin Liu 21 30 0 30 Mar 2021
Learning Symbolic Operators for Task and Motion Planning Tom Silver Rohan Chitnis J. Tenenbaum L. Kaelbling Tomas Lozano-Perez 23 79 0 28 Feb 2021
Efficient and Interpretable Robot Manipulation with Graph Neural Networks Yixin Lin Austin S. Wang Eric Undersander Akshara Rai LM&Ro 105 44 0 25 Feb 2021
Reactive Long Horizon Task Execution via Visual Skill and Precondition Models Shohin Mukherjee Chris Paxton Arsalan Mousavian Adam Fishman Maxim Likhachev Dieter Fox 32 13 0 17 Nov 2020
A Long Horizon Planning Framework for Manipulating Rigid Pointcloud Objects Anthony Simeonov Yilun Du Beomjoon Kim F. Hogan J. Tenenbaum Pulkit Agrawal Alberto Rodriguez 3DPC 22 49 0 16 Nov 2020
Designing Human-Robot Coexistence Space Jixuan Zhi L. Yu Jyh-Ming Lien 11 5 0 14 Nov 2020
CAMPs: Learning Context-Specific Abstractions for Efficient Planning in Factored MDPs Rohan Chitnis Tom Silver Beomjoon Kim L. Kaelbling Tomas Lozano-Perez 18 26 0 26 Jul 2020
Deep Visual Reasoning: Learning to Predict Action Sequences for Task and Motion Planning from an Initial Scene Image Danny Driess Jung-Su Ha Marc Toussaint LRM 13 100 0 09 Jun 2020
Learning compositional models of robot skills for task and motion planning Zi Wang Caelan Reed Garrett L. Kaelbling Tomás Lozano-Pérez 30 103 0 08 Jun 2020
Task-Motion Planning for Safe and Efficient Urban Driving Yan Ding Xiaohan Zhang Xingyue Zhan Shiqi Zhang 21 19 0 08 Mar 2020
Planning, Learning and Reasoning Framework for Robot Truck Unloading Fahad Islam Anirudh Vemula Sung-Kyun Kim Andrew Dornbush Oren Salzman Maxim Likhachev OffRL 8 12 0 21 Oct 2019
Efficient Bimanual Manipulation Using Learned Task Schemas Rohan Chitnis Shubham Tulsiani Saurabh Gupta Abhinav Gupta 25 73 0 30 Sep 2019
A novel approach to model exploration for value function learning Zlatan Ajanović Halil Beglerovic B. Lacevic 19 1 0 06 Jun 2019
Using Local Experiences for Global Motion Planning Constantinos Chamzas Anshumali Shrivastava Lydia E. Kavraki 19 42 0 20 Mar 2019
Regret bounds for meta Bayesian optimization with an unknown Gaussian process prior Zi Wang Beomjoon Kim L. Kaelbling 24 54 0 23 Nov 2018
Learning Quickly to Plan Quickly Using Modular Meta-Learning Rohan Chitnis L. Kaelbling Tomás Lozano-Pérez 14 26 0 20 Sep 2018
Active model learning and diverse action sampling for task and motion planning Zi Wang Caelan Reed Garrett L. Kaelbling Tomás Lozano-Pérez 26 81 0 02 Mar 2018
Guiding the search in continuous state-action spaces by learning an action sampling distribution from off-target samples Beomjoon Kim L. Kaelbling Tomas Lozano-Perez 19 4 0 04 Nov 2017