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07/21/2023
Symbolic State Space Optimization for Long Horizon Mobile Manipulation Planning
In existing task and motion planning (TAMP) research, it is a common ass...
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06/05/2023
LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning
Lifelong learning offers a promising paradigm of building a generalist a...
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02/24/2023
A Joint Modeling of Vision-Language-Action for Target-oriented Grasping in Clutter
We focus on the task of language-conditioned grasping in clutter, in whi...
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10/20/2022
VIOLA: Imitation Learning for Vision-Based Manipulation with Object Proposal Priors
We introduce VIOLA, an object-centric imitation learning approach to lea...
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09/19/2022
Learning to Walk by Steering: Perceptive Quadrupedal Locomotion in Dynamic Environments
We tackle the problem of perceptive locomotion in dynamic environments. ...
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02/22/2022
Visually Grounded Task and Motion Planning for Mobile Manipulation
Task and motion planning (TAMP) algorithms aim to help robots achieve ta...
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09/28/2021
Bottom-Up Skill Discovery from Unsegmented Demonstrations for Long-Horizon Robot Manipulation
We tackle real-world long-horizon robot manipulation tasks through skill...
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12/14/2020
Hierarchical Planning for Long-Horizon Manipulation with Geometric and Symbolic Scene Graphs
We present a visually grounded hierarchical planning algorithm for long-...
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11/16/2020
Fast Uncertainty Quantification for Deep Object Pose Estimation
Deep learning-based object pose estimators are often unreliable and over...
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10/29/2020