Robot Task Planning
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Benchmarks
PackIt
SheetCopilot
Most implemented
Do As I Can, Not As I Say: Grounding Language in Robotic Affordances
3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans
The CoSTAR Block Stacking Dataset: Learning with Workspace Constraints
You Only Demonstrate Once: Category-Level Manipulation from Single Visual Demonstration
LLM+MAP: Bimanual Robot Task Planning using Large Language Models and Planning Domain Definition Language
MRBTP: Efficient Multi-Robot Behavior Tree Planning and Collaboration
Papers
PO-PDDL: Learning Symbolic POMDPs from Visual Demonstrations for Robot Planning Under Uncertainty
Real-world robot task planning must operate under both stochastic action execution and partial observability, yet constructing Partially Observable Markov Decision Process (POMDP) models for real robotics domains remains…
Robot Task PlanningSafe reinforcement learning with online filtering for fatigue-predictive human-robot task planning and allocation in production
Human-robot collaborative manufacturing, a core aspect of Industry 5.0, emphasizes ergonomics to enhance worker well-being. This paper addresses the dynamic human-robot task planning and allocation (HRTPA) problem, which…
Reinforcement LearningRobot Task PlanningA hierarchical spatial-aware algorithm with efficient reinforcement learning for human-robot task planning and allocation in production
In advanced manufacturing systems, humans and robots collaborate to conduct the production process. Effective task planning and allocation (TPA) is crucial for achieving high production efficiency, yet it remains challen…
Reinforcement LearningRobot Task PlanningRo-SLM: Onboard Small Language Models for Robot Task Planning and Operation Code Generation
Recent advances in large language models (LLMs) provide robots with contextual reasoning abilities to comprehend human instructions. Yet, current LLM-enabled robots typically depend on cloud-based models or high-performa…
Robot Task PlanningCode GenerationIndoorR2X: Indoor Robot-to-Everything Coordination with LLM-Driven Planning
Although robot-to-robot (R2R) communication improves indoor scene understanding beyond what a single robot can achieve, R2R alone cannot overcome partial observability without substantial exploration overhead or scaling …
Robot Task PlanningScene UnderstandingContextual Graph Representations for Task-Driven 3D Perception and Planning
Recent advances in computer vision facilitate fully automatic extraction of object-centric relational representations from visual-inertial data. These state representations, dubbed 3D scene graphs, are a hierarchical dec…
Robot Task Planning