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12/08/2022
Task-Directed Exploration in Continuous POMDPs for Robotic Manipulation of Articulated Objects
Representing and reasoning about uncertainty is crucial for autonomous a...
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12/06/2022
Visibility-Aware Navigation Among Movable Obstacles
In this paper, we examine the problem of visibility-aware robot navigati...
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04/21/2022
PG3: Policy-Guided Planning for Generalized Policy Generation
A longstanding objective in classical planning is to synthesize policies...
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02/23/2022
Let's Handle It: Generalizable Manipulation of Articulated Objects
In this project we present a framework for building generalizable manipu...
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10/23/2021
Map Induction: Compositional spatial submap learning for efficient exploration in novel environments
Humans are expert explorers. Understanding the computational cognitive m...
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09/23/2021
Discovering State and Action Abstractions for Generalized Task and Motion Planning
Generalized planning accelerates classical planning by finding an algori...
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08/09/2021
Long-Horizon Manipulation of Unknown Objects via Task and Motion Planning with Estimated Affordances
We present a strategy for designing and building very general robot mani...
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09/11/2020
Planning with Learned Object Importance in Large Problem Instances using Graph Neural Networks
Real-world planning problems often involve hundreds or even thousands of...
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07/09/2020
ThreeDWorld: A Platform for Interactive Multi-Modal Physical Simulation
We introduce ThreeDWorld (TDW), a platform for interactive multi-modal p...
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04/22/2020