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ICRA 2024

2337 papers · 0 AI summaries · 2024

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2312 result(s) for “Task and Motion Planning” Page 1 of 47
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COAST: Constraints and Streams for Task and Motion Planning
Brandon Vu, Toki Migimatsu, Jeannette Bohg
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Asynchronous Task Plan Refinement for Multi-Robot Task and Motion Planning
Yoonchang Sung, Rahul Shome, Peter Stone
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D-LGP: Dynamic Logic-Geometric Program for Reactive Task and Motion Planning
Teng Xue, Amirreza Razmjoo, Sylvain Calinon
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AutoTAMP: Autoregressive Task and Motion Planning with LLMs As Translators and Checkers
Yongchao Chen, Jacob Arkin, Charles Dawson, Yang Zhang, Nicholas Roy, Chuchu Fan
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Hypergraph-Based Multi-Robot Task and Motion Planning
James Motes, Tan Chen, Timothy Bretl, Marco Morales, Nancy Amato
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R-LGP: A Reachability-Guided Logic-Geometric Programming Framework for Optimal Task and Motion Planning on Mobile Manipulators
Kim Tien Ly, Valeriy Semenov, Mattia Risiglione, Wolfgang Xaver Merkt, Ioannis Havoutis
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Effort Level Search in Infinite Completion Trees with Application to Task-And-Motion Planning
Marc Toussaint, Joaquim Ortiz-Haro, Valentin Hartmann, Erez Karpas, Wolfgang Hoenig
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Active Inference for Reactive Temporal Logic Motion Planning
Ziyang Chen, Zhangli Zhou, Lin Li, Zhen Kan
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Exploiting Transformer in Sparse Reward Reinforcement Learning for Interpretable Temporal Logic Motion Planning
Hao Zhang, Hao Wang, Zhen Kan
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Real-Time Whole-Body Motion Planning for Mobile Manipulators Using Environment-Adaptive Search and Spatial-Temporal Optimization
Chengkai Wu, Ruilin Wang, mianzhi song, Fei Gao, Jie Mei, Boyu Zhou
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GG-LLM: Geometrically Grounding Large Language Models for Zero-Shot Human Activity Forecasting in Human-Aware Task Planning
Moritz A. Graule, Volkan Isler
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Zero-Shot Constrained Motion Planning Transformers Using Learned Sampling Dictionaries
Jacob Johnson, Ahmed H. Qureshi, Michael C. Yip
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Motion Planning As Online Learning: A Multi-Armed Bandit Approach to Kinodynamic Sampling-Based Planning
Marco Faroni, Dmitry Berenson
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A Cross-Entropy Motion Planning Framework for Hybrid Continuum Robots
Jibiao Chen, Junyan Yan, Yufu Qiu, haiyang fang, Jianghua Chen, Shing Shin Cheng
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High-Degrees-of-Freedom Dynamic Neural Fields for Robot Self-Modeling and Motion Planning
Lennart Schulze, Hod Lipson
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Motion Planning and Inertia Based Control for Impact Aware Manipulation
Harshit Khurana, Aude Billard
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Coupled Active Perception and Manipulation Planning for a Mobile Manipulator in Precision Agriculture Applications
Shuangyu Xie, Chengsong Hu, Di Wang, Joe Johnson, Muthukumar Bagavathiannan, Dezhen Song
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Planning Optimal Trajectories for Mobile Manipulators under End-Effector Trajectory Continuity Constraint
Quang-Nam Nguyen, Quang-Cuong Pham
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Accelerating Long-Horizon Planning with Affordance-Directed Dynamic Grounding of Abstract Strategies
Khen Elimelech, Zachary Kingston, Wil Thomason, Vardi Moshe, Lydia Kavraki
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Preprocessing-Based Kinodynamic Motion Planning Framework for Intercepting Projectiles Using a Robot Manipulator
Ramkumar Natarajan, Hanlan Yang, Qintong Xie, Yash Oza, Manash Pratim Das, Fahad Islam, Muhammad Suhail Saleem, Howie Choset, Maxim Likhachev
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Solving Sequential Manipulation Puzzles by Finding Easier Subproblems
Svetlana Levit, Joaquim Ortiz-Haro, Marc Toussaint
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Constant-Time Motion Planning with Anytime Refinement for Manipulation
Itamar Mishani, Hayden Feddock, Maxim Likhachev
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RETRO: Reactive Trajectory Optimization for Real-Time Robot Motion Planning in Dynamic Environments
Apan Dastider, Hao Fang, Lin Mingjie
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CoPAL: Corrective Planning of Robot Actions with Large Language Models
Frank Joublin, Antonello Ceravola, Pavel Smirnov, Felix Ocker, Joerg Deigmoeller, Anna Belardinelli, Chao Wang, Stephan Hasler, Daniel Tanneberg, Michael Gienger
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Motion Memory: Leveraging past Experiences to Accelerate Future Motion Planning
Dibyendu Das, Yuanjie Lu, Erion Plaku, Xuesu Xiao
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Neural Implicit Swept Volume Models for Fast Collision Detection
Dominik Joho, Jonas Schwinn, Kirill Safronov
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A Tube-Based Reinforcement Learning Approach for Optimal Motion Planning in Unknown Workspaces
Panagiotis Rousseas, Charalampos Bechlioulis, Kostas Kyriakopoulos
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Wind Field Modeling for Formation Planning in Multi-Drone Systems
Minhyuk Park, Tsz-Chiu Au
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A Control Barrier Function-Based Motion Planning Scheme for a Quadruped Robot
Halil Utku Unlu, Vinicius Mariano Gonçalves, Dimitris Chaikalis, Anthony Tzes, Farshad Khorrami
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LEAGUE: Guided Skill Learning and Abstraction for Long-Horizon Manipulation
Shuo Cheng, Danfei Xu
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Towards Geometric Motion Planning for High-Dimensional Systems: Gait-Based Coordinate Optimization and Local Metrics
Yanhao Yang, Capprin Bass, Ross Hatton
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IBBT: Informed Batch Belief Trees for Motion Planning under Uncertainty
Dongliang Zheng, Panagiotis Tsiotras
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Vision-Based Uncertainty-Aware Motion Planning Based on Probabilistic Semantic Segmentation
Ralf Römer, Armin Lederer, Samuel Tesfazgi, Sandra Hirche
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The Virtues of Laziness: Multi-Query Kinodynamic Motion Planning with Lazy Methods
Anuj Pasricha, Alessandro Roncone
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Probabilistic Motion Planning and Prediction Via Partitioned Scenario Replay
Oscar de Groot, Anish Sridharan, Javier Alonso-Mora, Laura Ferranti
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Robustified Time-optimal Collision-free Motion Planning for Autonomous Mobile Robots under Disturbance Conditions
Shuhao Zhang, Mathias Bos, Bastiaan Vandewal, Wilm Decré, Joris Gillis, Jan Swevers
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Scalable Multi-Robot Motion Planning for Congested Environments with Topological Guidance
Courtney McBeth, James Motes, Diane Uwacu, Marco Morales, Nancy Amato
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Integrated Data-Driven Inference and Planning-Based Human Motion Prediction for Safe Human-Robot Interaction
Youngim Nam, Cheolhyeon Kwon
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Circular Field Motion Planning for Highly-Dynamic Multi-Robot Systems with Application to Robot Soccer
Fabrice Zeug, Marvin Becker, Matthias A. Müller
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Learning-Based Motion Planning with Mixture Density Networks
Yinghan Wang, Jianping He, Xiaoming Duan
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Distributionally Robust CVaR-Based Safety Filtering for Motion Planning in Uncertain Environments
Sleiman Safaoui, Tyler Summers
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Efficient RRT*-Based Safety-Constrained Motion Planning for Continuum Robots in Dynamic Environments
Peiyu Luo, Shilong Yao, Yiyao Yue, Hong Yan, Jiankun Wang, Max Q.-H. Meng
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Stochastic Implicit Neural Signed Distance Functions for Safe Motion Planning under Sensing Uncertainty
Carlos Quintero-Peña, Wil Thomason, Zachary Kingston, Anastasios Kyrillidis, Lydia Kavraki
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Practical and Safe Navigation Function Based Motion Planning of UAVs
Himani Sinhmar, Marcus Greiff, Stefano Di Cairano
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TPGP: Temporal-Parametric Optimization with Deep Grasp Prior for Dexterous Motion Planning
Haoming Li, Qi Ye, Yuchi Huo, Qingtao Liu, Shijian Jiang, Tao Zhou, Xiang Li, Yang Zhou, Jiming Chen
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Safe Receding Horizon Motion Planning with Infinitesimal Update Interval
Inkyu Jang, Sunwoo Hwang, Jeonghyun Byun, H. Jin Kim
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WiTHy A*: Winding-Constrained Motion Planning for Tethered Robot Using Hybrid A*
Vishnu S. Chipade, Rahul Kumar, Sze Zheng Yong
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A GP-Based Robust Motion Planning Framework for Agile Autonomous Robot Navigation and Recovery in Unknown Environments
Nicholas Mohammad, Jacob Higgins, Nicola Bezzo
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Chance-Constrained Multi-Robot Motion Planning under Gaussian Uncertainties
Anne Theurkauf, Justin Kottinger, Nisar Ahmed, Morteza Lahijanian
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Leveraging Opportunism in Sample-Based Motion Planning
Michael Lanighan, Oscar Youngquist
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