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 …

Autonomous robots are increasingly served in real-world unstructured human environments
with complex long-horizon tasks, such as restaurant serving and office delivery. Task and …

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. This may require …

We present a strategy for designing and building very general robot manipulation systems
using a general-purpose task-and-motion planner with both engineered and learned …

In this paper, we show how a planning algorithm can be used to automatically create and
update a Behavior Tree (BT), controlling a robot in a dynamic environment. The planning …

In robotic domains, learning and planning are complicated by continuous state spaces,
continuous action spaces, and long task horizons. In this work, we address these challenges …

Planning motions to grasp an object in cluttered and uncertain environments is a
challenging task, particularly when a collision-free trajectory does not exist and objects …

Updated concrete construction robots are designed to optimize equipment operation,
improve safety, enhance workspace awareness, and further ensure a proper working …

As drones and autonomous cars become more widespread, it is becoming increasingly
important that robots can operate safely under realistic conditions. The noisy information fed …

Task and motion planning (TAMP) algorithms aim to help robots achieve task-level goals,
while maintaining motion-level feasibility. This paper focuses on TAMP domains that involve …