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 …

Robot manipulation of multiple objects is an important topic for applications including
warehouse automation, service robots performing cleaning, and large-scale object sorting …

We present Interactive Gibson Benchmark, the first comprehensive benchmark for training
and evaluating Interactive Navigation solutions. Interactive Navigation tasks are robot …

Planning algorithms are impacting technical disciplines and industries around the world,
including robotics, computer-aided design, manufacturing, computer graphics, aerospace …

The visual world around us can be described as a structured set of objects and their
associated relations. An image of a room may be conjured given only the description of the …

We present a new algorithm for task and motion planning (TMP) and discuss the
requirements and abstractions necessary to obtain robust solutions for TMP in general. Our …

We present a new constraint-based framework for task and motion planning (TMP). Our
approach is extensible, probabilistically complete, and offers improved performance and …

We propose a representation and a planning algorithm able to deal with problems
integrating task planning as well as motion and manipulation planning knowledge involving …

Most common navigation tasks in human environments require auxiliary arm interactions, eg
opening doors, pressing buttons and pushing obstacles away. This type of navigation tasks …

This paper presents the resolve spatial constraints (RSC) algorithm for manipulation
planning in a domain with movable obstacles. Empirically we show that our algorithm …