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This paper introduces an approach for learning to solve continuous constraint satisfaction problems (CCSP) in robotic reasoning and planning.
Exponential Convergence of Langevin Distributions and Their Discrete Approximations
G. O. Roberts and R. L. Tweedie · 1996
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Fast Neighborhood Search for Two- and Three-Dimensional Nesting Problems
J. Egeblad, B. K. Nielsen, and A. Odgaard · 2007
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Hierarchical Task and Motion Planning in the Now
L. P. Kaelbling and T. Lozano-Pérez · 2011
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Logic-Geometric Programming: An Optimization-Based Approach to Combined Task and Motion Planning
M. Toussaint · 2015
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HAPE3D—a new constructive algorithm for the 3D irregular packing problem
X. Liu, J.-m. Liu, A.-x. Cao, and Z.-l. Yao · 2015
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ShapeNet: An Information-Rich 3D Model Repository
A. X. Chang, T. Funkhouser, L. Guibas, P. Hanrahan, Q. Huang, Z. Li, S. Savarese, M. Savva, S. Song, H. Su, et al · 2015
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An Incremental Constraint-Based Framework for Task and Motion Planning
N. T. Dantam, Z. K. Kingston, S. Chaudhuri, and L. E. Kavraki · 2018
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6-DOF GraspNet: Variational Grasp Generation for Object Manipulation
A. Mousavian, C. Eppner, and D. Fox · 2019
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Stable Bin Packing Of Non-Convex 3D Objects With A Robot Manipulator
F. Wang and K. Hauser · 2019
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PDDLStream: Integrating Symbolic Planners and Blackbox Samplers via Optimistic Adaptive Planning
C. R. Garrett, T. Lozano-Pérez, and L. P. Kaelbling · 2020
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Learning Latent Plans from Play
C. Lynch, M. Khansari, T. Xiao, V. Kumar, J. Tompson, S. Levine, and P. Sermanet · 2020
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A Long Horizon Planning Framework for Manipulating Rigid Pointcloud Objects
A. Simeonov, Y. Du, B. Kim, F. R. Hogan, J. Tenenbaum, P. Agrawal, and A. Rodriguez · 2020
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Compositional Visual Generation with Energy Based Models
Y. Du, S. Li, and I. Mordatch · 2020
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SAPIEN: A SimulAted Part-based Interactive ENvironment
F. Xiang, Y. Qin, K. Mo, Y. Xia, H. Zhu, F. Liu, M. Liu, H. Jiang, Y. Yuan, H. Wang, et al · 2020
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CLIPort: What and Where Pathways for Robotic Manipulation
M. Shridhar, L. Manuelli, and D. Fox · 2021
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Predicting Stable Configurations for Semantic Placement of Novel Objects
C. Paxton, C. Xie, T. Hermans, and D. Fox · 2021
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SORNet: Spatial Object-Centric Representations for Sequential Manipulation
W. Yuan, C. Paxton, K. Desingh, and D. Fox · 2021
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Learning to Compose Visual Relations
N. Liu, S. Li, Y. Du, J. Tenenbaum, and A. Torralba · 2021
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Controllable and Compositional Generation with Latent-Space Energy-Based Models
W. Nie, A. Vahdat, and A. Anandkumar · 2021
Global Planning for Contact-Rich Manipulation via Local Smoothing of Quasi-dynamic Contact Models
T. Pang, H. Suh, L. Yang, and R. Tedrake · 2022
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What Matters in Language Conditioned Robotic Imitation Learning over Unstructured Data
O. Mees, L. Hermann, and W. Burgard · 2022
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Long-Horizon Manipulation of Unknown Objects via Task and Motion Planning with Estimated Affordances
A. Curtis, X. Fang, L. P. Kaelbling, T. Lozano-Pérez, and C. R. Garrett · 2022
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Learning Perceptual Concepts by Bootstrapping from Human Queries
A. Bobu, C. Paxton, W. Yang, B. Sundaralingam, Y.-W. Chao, M. Cakmak, and D. Fox · 2022
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SE(3)-Equivariant Relational Rearrangement with Neural Descriptor Fields
A. Simeonov, Y. Du, L. Yen-Chen, , A. Rodriguez, L. P. Kaelbling, T. Lozano-Pérez, and P. Agrawal · 2022
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Composable Energy Policies for Reactive Motion Generation and Reinforcement Learning
J. Urain, A. Li, P. Liu, C. D’Eramo, and J. Peters · 2021
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Improved Denoising Diffusion Probabilistic Models
A. Q. Nichol and P. Dhariwal · 2021
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Integrated Task And Motion Planning
C. R. Garrett, R. Chitnis, R. Holladay, B. Kim, T. Silver, L. P. Kaelbling, and T. Lozano-Pérez · 2021
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StructFormer: Learning Spatial Structure for Language-Guided Semantic Rearrangement of Novel Objects
W. Liu, C. Paxton, T. Hermans, and D. Fox · 2022
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PDSketch: Integrated Domain Programming, Learning, and Planning
J. Mao, T. Lozano-Pérez, J. B. Tenenbaum, and L. Kaelbling · 2022
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Predicting Stable Configurations for Semantic Placement of Novel Objects
C. Paxton, C. Xie, T. Hermans, and D. Fox · 2022
Cited alongside, same era.
Compositional Visual Generation with Composable Diffusion Models
N. Liu, S. Li, Y. Du, A. Torralba, and J. B. Tenenbaum · 2022
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ZeroC: A Neuro-Symbolic Model for Zero-shot Concept Recognition and Acquisition at Inference Time
T. Wu, M. Tjandrasuwita, Z. Wu, X. Yang, K. Liu, R. Sosic, and J. Leskovec · 2022
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Sequence-Based Plan Feasibility Prediction for Efficient Task and Motion Planning
Z. Yang, C. R. Garrett, T. Lozano-Pérez, L. Kaelbling, and D. Fox · 2023
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Energy-based Models as Zero-Shot Planners for Compositional Scene Rearrangement
N. Gkanatsios, A. Jain, Z. Xian, Y. Zhang, C. Atkeson, and K. Fragkiadaki · 2023
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StructDiffusion: Language-Guided Creation of Physically-Valid Structures using Unseen Objects
W. Liu, Y. Du, T. Hermans, S. Chernova, and C. Paxton · 2023
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Reduce, Reuse, Recycle: Compositional Generation with Energy-Based Diffusion Models and MCMC
Y. Du, C. Durkan, R. Strudel, J. B. Tenenbaum, S. Dieleman, R. Fergus, J. Sohl-Dickstein, A. Doucet, and W. Grathwohl · 2023
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SE(3)-DiffusionFields: Learning Cost Functions for Joint Grasp and Motion Optimization Through Diffusion
J. Urain, N. Funk, G. Chalvatzaki, and J. Peters · 2023
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