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07/28/2023
RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control
We study how vision-language models trained on Internet-scale data can b...
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07/10/2023
Large Language Models as General Pattern Machines
We observe that pre-trained large language models (LLMs) are capable of ...
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03/06/2023
PaLM-E: An Embodied Multimodal Language Model
Large language models excel at a wide range of complex tasks. However, e...
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03/01/2023
Grounded Decoding: Guiding Text Generation with Grounded Models for Robot Control
Recent progress in large language models (LLMs) has demonstrated the abi...
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10/22/2022
Learning Feasibility of Factored Nonlinear Programs in Robotic Manipulation Planning
A factored Nonlinear Program (Factored-NLP) explicitly models the depend...
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06/03/2022
Reinforcement Learning with Neural Radiance Fields
It is a long-standing problem to find effective representations for trai...
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05/09/2022
FC^3: Feasibility-Based Control Chain Coordination
Hierarchical coordination of controllers often uses symbolic state repre...
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03/10/2022
Sequence-of-Constraints MPC: Reactive Timing-Optimal Control of Sequential Manipulation
Task and Motion Planning has made great progress in solving hard sequent...
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02/24/2022
Learning Multi-Object Dynamics with Compositional Neural Radiance Fields
We present a method to learn compositional predictive models from image ...
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12/09/2021
Learning Neural Implicit Functions as Object Representations for Robotic Manipulation
Robotic manipulation planning is the problem of finding a sequence of ro...
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11/15/2021
Learning to Execute: Efficient Learning of Universal Plan-Conditioned Policies in Robotics
Applications of Reinforcement Learning (RL) in robotics are often limite...
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10/02/2021
Learning Models as Functionals of Signed-Distance Fields for Manipulation Planning
This work proposes an optimization-based manipulation planning framework...
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06/04/2021
Long-Horizon Multi-Robot Rearrangement Planning for Construction Assembly
Robotic assembly planning has the potential to profoundly change how bui...
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03/09/2021
Deep 6-DoF Tracking of Unknown Objects for Reactive Grasping
Robotic manipulation of unknown objects is an important field of researc...
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06/09/2020
Deep Visual Reasoning: Learning to Predict Action Sequences for Task and Motion Planning from an Initial Scene Image
In this paper, we propose a deep convolutional recurrent neural network ...
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03/17/2020
Robust Task and Motion Planning for Long-Horizon Architectural Construction Planning
Integrating robotic systems in architectural and construction processes ...
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03/09/2020
Probabilistic Framework for Constrained Manipulations and Task and Motion Planning under Uncertainty
Logic-Geometric Programming (LGP) is a powerful motion and manipulation ...
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02/28/2020