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ICRA 2024

2337 papers · 0 AI summaries · 2024

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849 result(s) for “Task Planning” Page 1 of 17
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COAST: Constraints and Streams for Task and Motion Planning
Brandon Vu, Toki Migimatsu, Jeannette Bohg
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From Cooking Recipes to Robot Task Trees � Improving Planning Correctness and Task Efficiency by Leveraging LLMs with a Knowledge Network
Md Sadman Sakib, Yu Sun
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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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Stepwise Large-Scale Multi-Agent Task Planning Using Neighborhood Search
Fan Zeng, Shouhei Shirafuji, Changxiang Fan, Masahiro Nishio, Jun Ota
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ISR-LLM: Iterative Self-Refined Large Language Model for Long-Horizon Sequential Task Planning
Zhehua Zhou, Jiayang Song, Kunpeng Yao, Zhan Shu, Lei Ma
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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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Robot Task Planning under Local Observability
Max Merlin, Shane Parr, Neev Parikh, Sergio Orozco, Vedant Gupta, Eric Rosen, George Konidaris
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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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FLTRNN: Faithful Long-Horizon Task Planning for Robotics with Large Language Models
Jiatao Zhang, lanling Tang, Yufan Song, Qiwei Meng, Haofu Qian, Jun Shao, Wei Song, Shiqiang Zhu, Jason Gu
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Anticipate & Act : Integrating LLMs and Classical Planning for Efficient Task Execution in Household Environments
Raghav Arora, Shivam Singh, Karthik Swaminathan, Ahana Datta, Snehasis Banerjee, Brojeshwar Bhowmick, Krishna Murthy Jatavallabhula, Mohan Sridharan, Madhava Krishna
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NNgTL: Neural Network Guided Optimal Temporal Logic Task Planning for Mobile Robots
Ruijia Liu, Shaoyuan Li, Xiang Yin
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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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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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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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Deep Learning Based 6-DoF Antipodal Grasp Planning from Point Cloud in Random Bin-Picking Task Using Single-View
Tat Hieu Bui, Yeong Gwang Son, Seung Jae moon, Quang Huy Nguyen, Issac Rhee, Juyong Hong, Hyouk Ryeol Choi
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Vision-Language Interpreter for Robot Task Planning
Keisuke Shirai, Cristian Camilo Beltran-Hernandez, Masashi Hamaya, Atsushi Hashimoto, Shohei Tanaka, Kento Kawaharazuka, Kazutoshi Tanaka, Yoshitaka Ushiku, Shinsuke MORI
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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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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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Optimal Scene Graph Planning with Large Language Model Guidance
Zhirui Dai, Arash Asgharivaskasi, Thai Duong, Shusen Lin, Mariliza Tzes, George J. Pappas, Nikolay Atanasov
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The Grasp Loop Signature: A Topological Representation for Manipulation Planning with Ropes and Cables
Peter Mitrano, Dmitry Berenson
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Preprocessing-Based Planning for Utilizing Contacts in Semi-Structured High-Precision Insertion Tasks
Muhammad Suhail Saleem, Rishi Veerapaneni, Maxim Likhachev
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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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Robust MITL Planning under Uncertain Navigation Times
Alexis Linard, Anna Gautier, Daniel Duberg, Jana Tumova
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Long-Horizon Planning and Execution with Functional Object-Oriented Networks
David Paulius, Alejandro Agostini, Dongheui Lee
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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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Task-Oriented Active Learning of Model Preconditions for Inaccurate Dynamics Models
Alex LaGrassa, Moonyoung Lee, Oliver Kroemer
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Co-Learning Planning and Control Policies Constrained by Differentiable Logic Specifications
Zikang Xiong, Daniel Lawson, Joe Kurian Eappen, Ahmed H. Qureshi, Suresh Jagannathan
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MANER: Multi-Agent Neural Rearrangement Planning of Objects in Cluttered Environments
Vivek Gupta, Prabhpreet Dhir, Jeegn Dani, Ahmed H. Qureshi
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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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Bag of Views: An Appearance-Based Approach to Next-Best-View Planning for 3D Reconstruction
Sara Hatami Gazani, Matthew Tucsok, Iraj mantegh, Homayoun Najjaran
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Planning with Learned Subgoals Selected by Temporal Information
Xi Huang, Gergely Sóti, Christoph Ledermann, Björn Hein, Torsten Kroeger
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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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Tree-Based Representation of Locally Shortest Paths for 2D K-Shortest Non-Homotopic Path Planning
Tong Yang, Li Huang, Yue Wang, Rong Xiong
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Scalable Underwater Assembly with Reconfigurable Visual Fiducials
Samuel Lensgraf, Ankita Sarkar, Adithya Pediredla, Devin Balkcom, Alberto Quattrini Li
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PlanCollabNL: Leveraging Large Language Models for Adaptive Plan Generation in Human-Robot Collaboration
Silvia Izquierdo-Badiola, Gerard Canal, Carlos Rizzo, Guillem AlenyÃ
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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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LEAGUE: Guided Skill Learning and Abstraction for Long-Horizon Manipulation
Shuo Cheng, Danfei Xu
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Scalable Multi-Robot Collaboration with Large Language Models: Centralized or Decentralized Systems?
Yongchao Chen, Jacob Arkin, Yang Zhang, Nicholas Roy, Chuchu Fan
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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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Wind Field Modeling for Formation Planning in Multi-Drone Systems
Minhyuk Park, Tsz-Chiu Au
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Synchronized Dual-Arm Rearrangement Via Cooperative MTSP
Wenhao Li, Shishun Zhang, Sisi Dai, Hui Huang, Ruizhen Hu, Xiaohong Chen, Kai Xu
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Solving Sequential Manipulation Puzzles by Finding Easier Subproblems
Svetlana Levit, Joaquim Ortiz-Haro, Marc Toussaint
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Adapting to the �Open World�: The Utility of Hybrid Hierarchical Reinforcement Learning and Symbolic Planning
Pierrick Lorang, Horvath Helmut, Tobias Kietreiber, Patrik Zips, Clemens Heitzinger, Matthias Scheutz
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Optimal Planning for Timed Partial Order Specifications
Kandai Watanabe, Georgios Fainekos, Bardh Hoxha, Morteza Lahijanian, HIDEKI OKAMOTO, Sriram Sankaranarayanan
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BeBOP -- Combining Reactive Planning and Bayesian Optimization to Solve Robotic Manipulation Tasks
Jonathan Styrud, Matthias Mayr, Erik Hellsten, Volker Krueger, Claes Christian Smith
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Stackelberg Game-Theoretic Trajectory Guidance for Multi-Robot Systems with Koopman Operator
Yuhan Zhao, Quanyan Zhu
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RoCo: Dialectic Multi-Robot Collaboration with Large Language Models
Mandi Zhao, Shreeya Jain, Shuran Song
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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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