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Object-Centric Task and Motion Planning in Dynamic Environments

IEEE Robotics and Automation Letters (RA-L), 2019

12 November 2019

Toki Migimatsu

Jeannette Bohg

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Papers citing "Object-Centric Task and Motion Planning in Dynamic Environments"

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Title
Optimistic Reinforcement Learning-Based Skill Insertions for Task and Motion PlanningIEEE Robotics and Automation Letters (RA-L), 2024 Gaoyuan Liu Joris de Winter Yuri Durodié Denis Steckelmacher Ann Nowé B. Vanderborght 94 1 0 15 Oct 2025
Executable Analytic Concepts as the Missing Link Between VLM Insight and Precise Manipulation Mingyang Sun Jiude Wei Qichen He Donglin Wang Cewu Lu Jianhua Sun LM&Ro 77 0 0 09 Oct 2025
Building Gradient by Gradient: Decentralised Energy Functions for Bimanual Robot Assembly Alexander L. Mitchell Joe Watson Ingmar Posner 112 0 0 06 Oct 2025
Physically-Feasible Reactive Synthesis for Terrain-Adaptive Locomotion Ziyi Zhou Qian Meng H. Kress-Gazit Ye Zhao 100 1 0 27 Sep 2025
GLUE: Global-Local Unified Encoding for Imitation Learning via Key-Patch Tracking Ye Chen Zichen Zhou Jianyu Dou Te Cui Yi Yang Yufeng Yue 68 0 0 27 Sep 2025
SAGE: Scene Graph-Aware Guidance and Execution for Long-Horizon Manipulation Tasks Jialiang Li Wenzheng Wu Gaojing Zhang Yifan Han Wenzhao Lian LM&Ro 93 0 0 26 Sep 2025
VLBiMan: Vision-Language Anchored One-Shot Demonstration Enables Generalizable Bimanual Robotic Manipulation Huayi Zhou Kui Jia LM&Ro 154 0 0 26 Sep 2025
GBPP: Grasp-Aware Base Placement Prediction for Robots via Two-Stage Learning Jizhuo Chen Diwen Liu Jiaming Wang Harold Soh 92 0 0 15 Sep 2025
Inference-stage Adaptation-projection Strategy Adapts Diffusion Policy to Cross-manipulators Scenarios Xiangtong Yao Yirui Zhou Y. Meng Yanwen Liu Liangyu Dong Zitao Zhang Zhenshan Bing Kai-Qi Huang Fuchun Sun Alois Knoll 102 0 0 15 Sep 2025
ControlVLA: Few-shot Object-centric Adaptation for Pre-trained Vision-Language-Action Models Puhao Li Yingying Wu Ziheng Xi Wanlin Li Yuzhe Huang ... Yinghan Chen Jianan Wang Song-Chun Zhu Tengyu Liu Siyuan Huang LM&Ro 176 17 0 19 Jun 2025
Are We Done with Object-Centric Learning? Alexander Rubinstein Christian Schroeder de Witt Matthias Bethge Seong Joon Oh OCL 2.0K 3 0 09 Apr 2025
Efficient Gradient-Based Inference for Manipulation Planning in Contact Factor GraphsIEEE International Conference on Robotics and Automation (ICRA), 2025 Jeongmin Lee Sunkyung Park Minji Lee Dongjun Lee 271 0 0 08 Mar 2025
Pick-and-place Manipulation Across Grippers Without Retraining: A Learning-optimization Diffusion Policy Approach Xiangtong Yao Yirui Zhou Y. Meng Liangyu Dong Lin Hong Zitao Zhang Zhenshan Bing Kai Huang Fuchun Sun Alois C. Knoll 208 3 0 24 Feb 2025
Symbolic Disentangled Representations for Images Alexandr Korchemnyi A. Kovalev Aleksandr I. Panov OCL 258 1 0 31 Dec 2024
SPOT: SE(3) Pose Trajectory Diffusion for Object-Centric ManipulationIEEE International Conference on Robotics and Automation (ICRA), 2024 Cheng-Chun Hsu Bowen Wen Jie Xu Yashraj S. Narang Xiaolong Wang Yuke Zhu Joydeep Biswas Stan Birchfield DiffM 400 22 0 01 Nov 2024
Learning from 10 Demos: Generalisable and Sample-Efficient Policy Learning with Oriented Affordance Frames Krishan Rana Jad Abou-Chakra Sourav Garg Robert Lee Ian Reid Niko Suenderhauf 235 6 0 15 Oct 2024
Robot See Robot Do: Imitating Articulated Object Manipulation with Monocular 4D ReconstructionConference on Robot Learning (CoRL), 2024 Justin Kerr Chung Min Kim Mingxuan Wu Brent Yi Qianqian Wang Ken Goldberg Angjoo Kanazawa 197 35 0 26 Sep 2024
ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic ManipulationConference on Robot Learning (CoRL), 2024 Wenlong Huang Chen Wang Yongqian Li Ruohan Zhang Li Fei-Fei 319 241 0 03 Sep 2024
Language-Guided Object-Centric Diffusion Policy for Generalizable and Collision-Aware Robotic Manipulation Hang Li Qian Feng Zhi Zheng Jianxiang Feng Zhaopeng Chen Alois Knoll 396 0 0 29 Jun 2024
Task and Motion Planning for Execution in the Real Tianyang Pan Rahul Shome Lydia E. Kavraki 210 3 0 05 Jun 2024
Vision-based Manipulation from Single Human Video with Open-World Object Graphs Yifeng Zhu Arisrei Lim Peter Stone Yuke Zhu 312 50 0 30 May 2024
COAST: Constraints and Streams for Task and Motion PlanningIEEE International Conference on Robotics and Automation (ICRA), 2024 Brandon Vu Toki Migimatsu Jeannette Bohg 189 10 0 14 May 2024
Logic Learning from Demonstrations for Multi-step Manipulation Tasks in Dynamic Environments Yan Zhang Teng Xue Amirreza Razmjoo Sylvain Calinon 179 4 0 24 Apr 2024
Closed Loop Interactive Embodied Reasoning for Robot Manipulation Michal Nazarczuk Jan Kristof Behrens Karla Stepanova Matej Hoffmann K. Mikolajczyk LM&Ro LRM 350 4 0 23 Apr 2024
Composing Pre-Trained Object-Centric Representations for Robotics From "What" and "Where" Foundation Models Junyao Shi Jianing Qian Yecheng Jason Ma Dinesh Jayaraman OCL 228 14 0 20 Apr 2024
A Survey of Optimization-based Task and Motion Planning: From Classical To Learning ApproachesIEEE/ASME transactions on mechatronics (TAM), 2024 Zhigen Zhao Shuo Cheng Yan Ding Ziyi Zhou Shiqi Zhang Danfei Xu Ye Zhao 439 43 0 03 Apr 2024
Robust Pushing: Exploiting Quasi-static Belief Dynamics and Contact-informed OptimizationThe international journal of robotics research (IJRR), 2024 Julius Jankowski Lara Brudermüller Nick Hawes Sylvain Calinon 254 4 0 03 Apr 2024
H-MaP: An Iterative and Hybrid Sequential Manipulation Planner Berk Cicek Cankut Bora Tuncer Busenaz Kerimgil Ozgur S. Oguz 211 2 0 15 Mar 2024
Object-Centric Instruction Augmentation for Robotic Manipulation Junjie Wen Yichen Zhu Minjie Zhu Jinming Li Zhiyuan Xu ... Yaxin Peng Chaomin Shen Dong Liu Feifei Feng Jian Tang LM&Ro 306 22 0 05 Jan 2024
D-LGP: Dynamic Logic-Geometric Program for Reactive Task and Motion PlanningIEEE International Conference on Robotics and Automation (ICRA), 2023 Teng Xue Amirreza Razmjoo Sylvain Calinon 178 7 0 05 Dec 2023
Multi-Modal MPPI and Active Inference for Reactive Task and Motion PlanningIEEE Robotics and Automation Letters (RA-L), 2023 Yuezhe Zhang Corrado Pezzato Elia Trevisan C. Salmi C. H. Corbato Javier Alonso-Mora 209 15 0 04 Dec 2023
Object-Centric Learning with Slot Mixture Module Daniil E. Kirilenko Vitaliy Vorobyov A. Kovalev Aleksandr I. Panov OCL 279 5 0 08 Nov 2023
RoboGen: Towards Unleashing Infinite Data for Automated Robot Learning via Generative SimulationInternational Conference on Machine Learning (ICML), 2023 Yufei Wang Zhou Xian Feng Chen Tsun-Hsuan Wang Yian Wang Katerina Fragkiadaki Zackory M. Erickson David Held Chuang Gan LM&Ro 404 165 0 02 Nov 2023
Gen2Sim: Scaling up Robot Learning in Simulation with Generative ModelsIEEE International Conference on Robotics and Automation (ICRA), 2023 Pushkal Katara Zhou Xian Katerina Fragkiadaki LM&Ro 257 62 0 27 Oct 2023
Modular Multi-Level Replanning TAMP Framework for Dynamic EnvironmentIEEE Robotics and Automation Letters (RA-L), 2023 Tao Lin Chengfei Yue Ziran Liu Xibin Cao LRM 139 6 0 23 Oct 2023
Learning Generalizable Manipulation Policies with Object-Centric 3D RepresentationsConference on Robot Learning (CoRL), 2023 Yifeng Zhu Zhenyu Jiang Peter Stone Yuke Zhu 3DPC 198 64 0 22 Oct 2023
Generalizable Long-Horizon Manipulations with Large Language Models Haoyu Zhou Mingyu Ding Weikun Peng Masayoshi Tomizuka Lin Shao Chuang Gan LM&Ro 184 18 0 03 Oct 2023
Versatile Multi-Contact Planning and Control for Legged Loco-ManipulationScience Robotics (Sci. Robot.), 2023 Jean-Pierre Sleiman Farbod Farshidian Marco Hutter 130 77 0 17 Aug 2023
Symbolic State Space Optimization for Long Horizon Mobile Manipulation PlanningIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023 Xiaohan Zhang Yifeng Zhu Yan Ding Yuqian Jiang Yuke Zhu Peter Stone Shiqi Zhang 182 6 0 21 Jul 2023
Energy-based Models are Zero-Shot Planners for Compositional Scene Rearrangement N. Gkanatsios Ayush Jain Zhou Xian Yunchu Zhang C. Atkeson Katerina Fragkiadaki LM&Ro 306 43 0 27 Apr 2023
Demonstration-guided Optimal Control for Long-term Non-prehensile Planar ManipulationIEEE International Conference on Robotics and Automation (ICRA), 2022 Teng Xue Hakan Girgin Teguh Santoso Lembono Sylvain Calinon 312 20 0 24 Dec 2022
A Conflict-driven Interface between Symbolic Planning and Nonlinear Constraint SolvingIEEE Robotics and Automation Letters (RA-L), 2022 Joaquim Ortiz de Haro E. Karpas Michael Katz Marc Toussaint 132 10 0 28 Nov 2022
Active Task Randomization: Learning Robust Skills via Unsupervised Generation of Diverse and Feasible TasksIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022 Kuan Fang Toki Migimatsu Ajay Mandlekar Li Fei-Fei Jeannette Bohg 144 6 0 11 Nov 2022
VIOLA: Imitation Learning for Vision-Based Manipulation with Object Proposal Priors Yifeng Zhu Abhishek Joshi Peter Stone Yuke Zhu LM&Ro 214 182 0 20 Oct 2022
Task and Motion Informed Trees (TMIT*): Almost-Surely Asymptotically Optimal Integrated Task and Motion PlanningIEEE Robotics and Automation Letters (RA-L), 2022 Wil Thomason Marlin P. Strub Jonathan Gammell 101 23 0 17 Oct 2022
Elly: A Real-Time Failure Recovery and Data Collection System for Robotic Manipulation Elena Galbally Adrian Piedra Cynthia Brosque O. Khatib 158 0 0 25 Aug 2022
Parallel Monte Carlo Tree Search with Batched Rigid-body Simulations for Speeding up Long-Horizon Episodic Robot PlanningIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022 Baichuan Huang Abdeslam Boularias Jingjin Yu 177 12 0 14 Jul 2022
ToolTango: Common sense Generalization in Predicting Sequential Tool Interactions for Robot Plan SynthesisJournal of Artificial Intelligence Research (JAIR), 2022 Shreshth Tuli Rajas Bansal Rohan Paul Mausam LM&Ro 137 5 0 18 Jun 2022
Reactive Informative Planning for Mobile Manipulation Tasks under Sensing and Environmental UncertaintyIEEE International Conference on Robotics and Automation (ICRA), 2022 Mariliza Tzes V. Vasilopoulos Y. Kantaros George J. Pappas 161 6 0 12 May 2022
FC $^3$ : Feasibility-Based Control Chain CoordinationIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022 Jason Harris Danny Driess Marc Toussaint 114 4 0 09 May 2022