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ICRA 2023

1655 papers · 0 AI summaries · 2023

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587 result(s) for “Task Planning” Page 1 of 12
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A Framework to Co-Optimize Robot Exploration and Task Planning in Unknown Environments
Yuanfan Xu, Zhaoliang Zhang, Yu Jincheng, Yuan Shen, Yu Wang
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Optimal Grasps and Placements for Task and Motion Planning in Clutter
Carlos Quintero-Peña, Zachary Kingston, Tianyang Pan, Rahul Shome, Anastasios Kyrillidis, Lydia Kavraki
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A Reachability Tree-Based Algorithm for Robot Task and Motion Planning
Kanghyun Kim, Daehyung Park, Min Jun Kim
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Autonomous Task Planning for Heterogeneous Multi-Agent Systems
Anatoli Tziola, Savvas Loizou
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Perturbation-Based Best Arm Identification for Efficient Task Planning with Monte-Carlo Tree Search
Jin Daejong, Juhan Park, Kyungjae Lee
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Learning to Predict Action Feasibility for Task and Motion Planning in 3D Environments
Smail Ait Bouhsain, Rachid Alami, Thierry Simeon
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Policy Guided Lazy Search with Feedback for Task and Motion Planning
Mohamed Khodeir, Atharv Sonwane, Ruthrash Hari, Florian Shkurti
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Multi-Contact Task and Motion Planning Guided by Video Demonstration
Kateryna Zorina, David Kovar, Florent Lamiraux, Nicolas Mansard, Justin Carpentier, Josef Sivic, Vladimir Petrik
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Sequential Stochastic Multi-Task Assignment for Multi-Robot Deployment Planning
Colin Mitchell, Graeme Best, Geoffrey Hollinger
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Anticipatory Planning: Improving Long-Lived Planning by Estimating Expected Cost of Future Tasks
Roshan Dhakal, Gregory Stein, Md Ridwan Hossain Talukder
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Long-Horizon Multi-Robot Rearrangement Planning for Construction Assembly
Valentin Noah Hartmann, Andreas Orthey, Danny Driess, Ozgur S. Oguz, Marc Toussaint
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A Hierarchical Decoupling Approach for Fast Temporal Logic Motion Planning
Ziyang Chen, Zhangli Zhou, Shaochen Wang, Zhen Kan
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Human-Guided Planning for Complex Manipulation Tasks Using the Screw Geometry of Motion
Dasharadhan Mahalingam, Nilanjan Chakraborty
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STAP: Sequencing Task-Agnostic Policies
Toki Migimatsu, Christopher George Agia, Jiajun Wu, Jeannette Bohg
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Communication-Critical Planning Via Multi-Agent Trajectory Exchange
Nathaniel Glaser, Zsolt Kira
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A Coarse-To-Fine Framework for Dual-Arm Manipulation of Deformable Linear Objects with Whole-Body Obstacle Avoidance
Mingrui Yu, Kangchen Lv, Changhao Wang, Masayoshi Tomizuka, Xiang LI
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Planning with SiMBA: Motion Planning under Uncertainty for Temporal Goals Using Simplified Belief Guides
Qi Heng Ho, Zachary Sunberg, Morteza Lahijanian
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Task-Directed Exploration in Continuous POMDPs for Robotic Manipulation of Articulated Objects
Aidan Curtis, Leslie Kaelbling, Siddarth Jain
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A Fast Two-Stage Approach for Multi-Goal Path Planning in a Fruit Tree
Werner Kroneman, João Valente, Frank van der Stappen
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ProgPrompt: Generating Situated Robot Task Plans Using Large Language Models
Ishika Singh, Valts Blukis, Arsalan Mousavian, Ankit Goyal, Danfei Xu, Jonathan Tremblay, Dieter Fox, Jesse Thomason, Animesh Garg
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Optimal Multi-Robot Coverage Path Planning for Agricultural Fields Using Motion Dynamics
Jahid Chowdhury Choton, Pavithra Prabhakar
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A Virtual Reality Planning Environment for High-Risk, High-Latency Teleoperation
Will Pryor, Liam Wang, Arko Chatterjee, Balazs Vagvolgyi, Anton Deguet, Simon Leonard, Louis Whitcomb, Peter Kazanzides
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Path Planning under Uncertainty to Localize mmWave Sources
Kai Pfeiffer, Yuze Jia, Mingsheng Yin, Akshaj Kumar Veldanda, Yaqi Hu, Amee Trivedi, Jeff Jun Zhang, Siddharth Garg, Elza Erkip, Sundeep Rangan, Ludovic Righetti
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Intermittent Diffusion Based Path Planning for Heterogeneous Groups of Mobile Sensors in Cluttered Environments
Christina Frederick, Haomin Zhou, Frank Crosby
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Open-Vocabulary, Queryable Scene Representations for Real World Planning
Boyuan Chen, Fei Xia, Brian Ichter, Kanishka Rao, Keerthana Gopalakrishnan, Michael S. Ryoo, Austin Stone, Daniel Kappler
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Sampling-Based Path Planning under Temporal Logic Constraints with Real-Time Adaptation
Yizhou Chen, Ruoyu Wang, Xinyi Wang, Ben M. Chen
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Allowing Safe Contact in Robotic Goal-Reaching: Planning and Tracking in Operational and Null Spaces
Xinghao Zhu, Wenzhao Lian, BODI Yuan, Daniel Freeman, Masayoshi Tomizuka
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Learning Agile Flight Maneuvers: Deep SE(3) Motion Planning and Control for Quadrotors
Yixiao Wang, Bingheng Wang, Shenning Zhang, Han Wei Sia, Lin Zhao
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Epistemic Prediction and Planning with Implicit Coordination for Multi-Robot Teams in Communication Restricted Environments
Lauren Bramblett, Shijie Gao, Nicola Bezzo
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Multi-Object Navigation in Real Environments Using Hybrid Policies
Assem Sadek, Guillaume Bono, Boris Chidlovskii, Atilla Baskurt, Christian Wolf
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Planning for Complex Non-Prehensile Manipulation among Movable Objects by Interleaving Multi-Agent Pathfinding and Physics-Based Simulation
Dhruv Mauria Saxena, Maxim Likhachev
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Efficient Planning of Multi-Robot Collective Transport Using Graph Reinforcement Learning with Higher Order Topological Abstraction
Steve Paul, Wenyuan Li, Brian Smyth, Yuzhou Chen, Yulia Gel, Souma Chowdhury
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Demonstration-Guided Optimal Control for Long-Term Non-Prehensile Planar Manipulation
Teng Xue, Hakan Girgin, Teguh Santoso Lembono, Sylvain Calinon
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Extracting Generalizable Skills from a Single Plan Execution Using Abstraction-Critical State Detection
Khen Elimelech, Lydia Kavraki, Vardi Moshe
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Kinodynamic Rapidly-exploring Random Forest for Rearrangement-Based Nonprehensile Manipulation
Kejia Ren, Podshara Chanrungmaneekul, Lydia Kavraki, Kaiyu Hang
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Multi-Robot Coordination and Cooperation with Task Precedence Relationships
Walker Gosrich, Siddharth Mayya, Saaketh Narayan, Matthew Malencia, Saurav Agarwal, Vijay Kumar
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Experiments in Underwater Feature Tracking with Performance Guarantees Using a Small AUV
Benjamin Biggs, Hans He, James McMahon, Daniel Stilwell
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Hierarchical Policy Blending As Inference for Reactive Robot Control
Kay Hansel, Julen Urain De Jesus, Jan Peters, Georgia Chalvatzaki
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Trajectory Optimization for Distributed Manipulation by Shaping a Physical Field
Adam Uchytil, Jiri Zemanek
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Predicting Motion Plans for Articulating Everyday Objects
Arjun Gupta, Max Shepherd, Saurabh Gupta
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Adaptive Approximation of Dynamics Gradients Via Interpolation to Speed up Trajectory Optimisation
David Mackenzie Charles Russell, Rafael Papallas, Mehmet R Dogar
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It Takes Two: Learning to Plan for Human-Robot Cooperative Carrying
Eley Ng, Ziang Liu, Monroe Kennedy
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Efficient Learning of High Level Plans from Play
NÃoria Armengol Urpí, Marco Bagatella, Otmar Hilliges, Georg Martius, Stelian Coros
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Deep Occupancy-Predictive Representations for Autonomous Driving
Eivind Meyer, Lars Frederik Peiss, Matthias Althoff
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Design and Validation of a Multi-Arm Relocatable Manipulator for Space Applications
Enrico Mingo Hoffman, Arturo Laurenzi, Francesco Ruscelli, Luca Rossini, Lorenzo Baccelliere, Davide Antonucci, alessio margan, Paolo Guria, Marco Migliorini, Stefano Cordasco, Gennaro Raiola, Luca Muratore, Joaquín Estremera, Andrea Rusconi, Guido Sangiovanni, Nikos Tsagarakis
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PredRecon: A Prediction-Boosted Planning Framework for Fast and High-Quality Autonomous Aerial Reconstruction
Chen Feng, Haojia Li, Fei Gao, Boyu Zhou, Shaojie Shen
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An Architecture for Reactive Mobile Manipulation On-The-Move
Ben Burgess-Limerick, Christopher Lehnert, Jurgen Leitner, Peter Corke
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Sample-Driven Connectivity Learning for Motion Planning
Sihui Li, Neil Dantam
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Distributing Collaborative Multi-Robot Planning with Gaussian Belief Propagation
Aalok Patwardhan, Riku Murai, Andrew J Davison
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Guided Learning from Demonstration for Robust Transferability
Fouad Sukkar, Victor Hernandez Moreno, Teresa A. Vidal-Calleja, Jochen Deuse
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