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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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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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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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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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11/16/2020
Distilling a Hierarchical Policy for Planning and Control via Representation and Reinforcement Learning
We present a hierarchical planning and control framework that enables an...
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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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03/09/2020
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
Describing Physics For Physical Reasoning: Force-based Sequential Manipulation Planning
Physical reasoning is a core aspect of intelligence in animals and human...
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07/29/2018
A Distributed ADMM Approach to Informative Trajectory Planning for Multi-Target Tracking
This paper presents a distributed optimization method for informative tr...
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07/05/2018
Adaptive Path-Integral Autoencoder: Representation Learning and Planning for Dynamical Systems
We present a representation learning algorithm that learns a low-dimensi...
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07/05/2018
Adaptive Path-Integral Approach to Representation Learning and Planning for Dynamical Systems
We present a representation learning algorithm that learns a low-dimensi...
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11/22/2017
High-dimensional Motion Planning using Latent Variable Models via Approximate Inference
In this work, we present an efficient framework to generate a motion tra...
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11/24/2016