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03/21/2023
Text2Motion: From Natural Language Instructions to Feasible Plans
We propose Text2Motion, a language-based planning framework enabling rob...
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11/11/2022
Active Task Randomization: Learning Visuomotor Skills for Sequential Manipulation by Proposing Feasible and Novel Tasks
Solving real-world sequential manipulation tasks requires robots to have...
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05/07/2022
Category-Independent Articulated Object Tracking with Factor Graphs
Robots deployed in human-centric environments may need to manipulate a d...
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03/04/2022
Symbolic State Estimation with Predicates for Contact-Rich Manipulation Tasks
Manipulation tasks often require a robot to adjust its sensorimotor skil...
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09/29/2021
Grounding Predicates through Actions
Symbols representing abstract states such as "dish in dishwasher" or "cu...
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03/26/2021
OmniHang: Learning to Hang Arbitrary Objects using Contact Point Correspondences and Neural Collision Estimation
In this paper, we explore whether a robot can learn to hang arbitrary ob...
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11/12/2019
Object-Centric Task and Motion Planning in Dynamic Environments
We address the problem of applying Task and Motion Planning (TAMP) in re...
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11/03/2019
Learning to Scaffold the Development of Robotic Manipulation Skills
Learning contact-rich, robotic manipulation skills is a challenging prob...
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12/07/2015
Driverseat: Crowdstrapping Learning Tasks for Autonomous Driving
While emerging deep-learning systems have outclassed knowledge-based app...
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04/07/2015