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We present a visually grounded hierarchical planning algorithm for long-horizon manipulation tasks.
“Logic-Geometric Programming: An Optimization-Based Approach to Combined Task and Motion Planning.”
Marc Toussaint · 1936
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Steven LaValle · 2006
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“Hierarchical task and motion planning in the now”
Leslie Kaelbling and Tomás Lozano-Pérez · 2011
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“Combined task and motion planning through an extensible planner-independent interface layer”
Siddharth Srivastava et al · 2014
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“Action-conditional video prediction using deep networks in atari games”
Junhyuk Oh et al · 2015
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“Embed to Control: A Locally Linear Latent Dynamics Model for Control from Raw Images”
Manuel Watter, Jost Springenberg, Joschka Boedecker and Martin Riedmiller · 2015
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“Guided search for task and motion plans using learned heuristics”
Rohan Chitnis et al · 2016
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“Incremental Task and Motion Planning: A Constraint-Based Approach”
Neil Dantam, Zachary Kingston, Swarat Chaudhuri and Lydia Kavraki · 2016
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“Deep visual foresight for planning robot motion”
Chelsea Finn and Sergey Levine · 2017
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“Visual genome: Connecting language and vision using crowdsourced dense image annotations”
Ranjay Krishna et al · 2017
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“Scene graph generation by iterative message passing”
Danfei Xu, Yuke Zhu, Christopher Choy and Li Fei-Fei · 2017
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“Relational inductive bias for physical construction in humans and machines”
Jessica Hamrick et al · 2018
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“Differentiable physics and stable modes for tool-use and manipulation planning”
Marc Toussaint, Kelsey Allen, Kevin Smith and Joshua Tenenbaum · 2018
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“Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objects”
Jonathan Tremblay et al · 2018
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“Active model learning and diverse action sampling for task and motion planning”
Zi Wang, Caelan Garrett, Leslie Kaelbling and Tomás Lozano-Pérez · 2018
Cited alongside, same era.
“3d scene graph: A structure for unified semantics, 3d space, and camera”
Iro Armeni et al · 2019
Cited alongside, same era.
“MONet: Unsupervised scene decomposition and representation”
Christopher Burgess et al · 2019
Cited alongside, same era.
“Dynamics Learning with Cascaded Variational Inference for Multi-Step Manipulation”
Kuan Fang et al · 2019
Cited alongside, same era.
“Dream to Control: Learning Behaviors by Latent Imagination”
Danijar Hafner, Timothy Lillicrap, Jimmy Ba and Mohammad Norouzi · 2019
Cited alongside, same era.
“Learning latent dynamics for planning from pixels”
“Object-centric Forward Modeling for Model Predictive Control”
Yufei Ye, Dhiraj Gandhi, Abhinav Gupta and Shubham Tulsiani · 2019
Later among the works it cites.
“Discovering symbolic models from deep learning with inductive biases”
Miles Cranmer et al · 2020
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“Deep Visual Reasoning: Learning to Predict Action Sequences for Task and Motion Planning from an Initial Scene Image”
Danny Driess, Jung-Su Ha and Marc Toussaint · 2020
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“GENESIS: Generative scene inference and sampling with object-centric latent representations”
Martin Engelcke, Adam Kosiorek, Oiwi Jones and Ingmar Posner · 2020
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“PDDLStream: Integrating symbolic planners and blackbox samplers via optimistic adaptive planning”
Caelan Garrett, Tomás Lozano-Pérez and Leslie Kaelbling · 2020
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Danijar Hafner et al · 2019
Cited alongside, same era.
“Continuous Relaxation of Symbolic Planner for One-Shot Imitation Learning”
De-An Huang et al · 2019
Cited alongside, same era.
“Learning to guide task and motion planning using score-space representation”
Beomjoon Kim, Zi Wang, Leslie Kaelbling and Tomás Lozano-Pérez · 2019
Cited alongside, same era.
“Contrastive Learning of Structured World Models”
Thomas Kipf, Elise van Pol and Max Welling · 2019
Cited alongside, same era.
“Hierarchical Foresight: Self-Supervised Learning of Long-Horizon Tasks via Visual Subgoal Generation”
Suraj Nair and Chelsea Finn · 2019
Cited alongside, same era.
“Planning with goal-conditioned policies”
Soroush Nasiriany, Vitchyr Pong, Steven Lin and Sergey Levine · 2019
Cited alongside, same era.
“6-DoF pose estimation of household objects for robotic manipulation: an accessible dataset and benchmark”
Stephen Tyree et al · 2019
Cited alongside, same era.
“Motion reasoning for goal-based imitation learning”
De-An Huang et al · 2020
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“SPACE: Unsupervised Object-Oriented Scene Representation via Spatial Attention and Decomposition”
Zhixuan Lin et al · 2020
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“Learning latent plans from play”
Corey Lynch et al · 2020
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“Object-Centric Task and Motion Planning in Dynamic Environments”
Toki Migimatsu and Jeannette Bohg · 2020
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“NVISII: NVIDIA Scene Imaging Interface” https://github.com/owl-project/NVISII/ , 2020
Nathan Morrical, Jonathan Tremblay, Stan Birchfield and Ingo Wald · 2020
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“Long-Horizon Visual Planning with Goal-Conditioned Hierarchical Predictors”
Karl Pertsch et al · 2020
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“3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans”
Antoni Rosinol et al · 2020
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“Graph-structured visual imitation”
Maximilian Sieb et al · 2020
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“Fast Uncertainty Quantification for Deep Object Pose Estimation”
Guanya Shi et al · 2021
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