The problem of planning for a robot that operates in environments containing a large
number of objects, taking actions to move itself through the world as well as to change the …

Autonomous robots are increasingly served in real-world unstructured human environments
with complex long-horizon tasks, such as restaurant serving and office delivery. Task and …

Representing robotic manipulation tasks as constraints that associate the robot and the
environment is a promising way to encode desired robot behaviors. However, it remains …

This paper proposes an approach to automate chemistry experiments using robots by
translating natural language instructions into robot-executable plans, using large language …

Robotic construction assembly planning aims to find feasible assembly sequences as well
as the corresponding robot-paths and can be seen as a special case of task and motion …

This work proposes an optimization-based manipulation planning framework where the
objectives are learned functionals of signed-distance fields that represent objects in the …

Task and motion planning (TAMP) integrates high-level task planning and low-level motion
planning to equip robots with the autonomy to effectively reason over long-horizon, dynamic …

We present a review and reformulation of manifold constrained sampling-based motion
planning within a unifying framework, IMACS (implicit manifold configuration space). IMACS …

We present a strategy for designing and building very general robot manipulation systems
using a general-purpose task-and-motion planner with both engineered and learned …

Humans demonstrate an impressive ability to acquire and generalize manipulation “tricks.”
Even from a single demonstration, such as using soup ladles to reach for distant objects, we …