no code implementations • 3 Apr 2024 • Zhigen Zhao, Shuo Cheng, Yan Ding, Ziyi Zhou, Shiqi Zhang, Danfei Xu, Ye Zhao
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 tasks.
no code implementations • 16 Sep 2021 • Zhigen Zhao, Simiao Zuo, Tuo Zhao, Ye Zhao
Recent advancement in combining trajectory optimization with function approximation (especially neural networks) shows promise in learning complex control policies for diverse tasks in robot systems.
no code implementations • 1 Mar 2021 • Kai Zhang, Zhigen Zhao, Wen Zhou
To approach this oracle power, we devise the BEAST through a regularized resampling approximation of the oracle test.
1 code implementation • 21 Oct 2020 • Zhigen Zhao, Ziyi Zhou, Michael Park, Ye Zhao
This study proposes a Task and Motion Planning (TAMP) method with symbolic decisions embedded in a bilevel optimization.
Robotics