no code implementations • 3 Nov 2022 • Zhutian Yang, Caelan Reed Garrett, Dieter Fox
Robots planning long-horizon behavior in complex environments must be able to quickly reason about the impact of the environment's geometry on what plans are feasible, i. e., whether there exist action parameter values that satisfy all constraints on a candidate plan.
no code implementations • 9 Aug 2021 • Aidan Curtis, Xiaolin Fang, Leslie Pack Kaelbling, Tomás Lozano-Pérez, Caelan Reed Garrett
We present a strategy for designing and building very general robot manipulation systems involving the integration of a general-purpose task-and-motion planner with engineered and learned perception modules that estimate properties and affordances of unknown objects.
no code implementations • 2 Oct 2020 • Caelan Reed Garrett, Rohan Chitnis, Rachel Holladay, Beomjoon Kim, Tom Silver, Leslie Pack Kaelbling, Tomás Lozano-Pérez
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 state of the objects, is known as task and motion planning (TAMP).
1 code implementation • 8 Jun 2020 • Zi Wang, Caelan Reed Garrett, Leslie Pack Kaelbling, Tomás Lozano-Pérez
We use, and develop novel improvements on, state-of-the-art methods for active learning and sampling.
no code implementations • 6 Feb 2020 • Caelan Reed Garrett, Yijiang Huang, Tomás Lozano-Pérez, Caitlin Tobin Mueller
There is increasing demand for automated systems that can fabricate 3D structures.
1 code implementation • 11 Nov 2019 • Caelan Reed Garrett, Chris Paxton, Tomás Lozano-Pérez, Leslie Pack Kaelbling, Dieter Fox
To solve multi-step manipulation tasks in the real world, an autonomous robot must take actions to observe its environment and react to unexpected observations.
2 code implementations • 1 Oct 2018 • Yijiang Huang, Caelan Reed Garrett, Caitlin Tobin Mueller
While robotics for architectural-scale construction has made significant progress in recent years, a major challenge remains in automatically planning robotic motion for the assembly of complex structures.
2 code implementations • 2 Mar 2018 • Zi Wang, Caelan Reed Garrett, Leslie Pack Kaelbling, Tomás Lozano-Pérez
Solving long-horizon problems in complex domains requires flexible generative planning that can combine primitive abilities in novel combinations to solve problems as they arise in the world.
4 code implementations • 23 Feb 2018 • Caelan Reed Garrett, Tomás Lozano-Pérez, Leslie Pack Kaelbling
We extend PDDL to support a generic, declarative specification for these procedures that treats their implementation as black boxes.
4 code implementations • 1 Jan 2017 • Caelan Reed Garrett, Tomás Lozano-Pérez, Leslie Pack Kaelbling
We introduce STRIPStream: an extension of the STRIPS language which can model these domains by supporting the specification of blackbox generators to handle complex constraints.
no code implementations • 3 Aug 2016 • Caelan Reed Garrett, Leslie Pack Kaelbling, Tomas Lozano-Perez
We investigate learning heuristics for domain-specific planning.
no code implementations • 12 Apr 2016 • Caelan Reed Garrett, Tomas Lozano-Perez, Leslie Pack Kaelbling
In this paper we address planning problems in high-dimensional hybrid configuration spaces, with a particular focus on manipulation planning problems involving many objects.