Papers Motion Planning
“Motion Planning” 태그가 달린 논문 1,485편 · 필터 해제
RobotUse: Allocating Computation, Context, and Decisions
Robot agents must connect their intended actions to observed outcomes while retaining the context needed to revise their choices over repeated attempts. Existing interfaces often leave these choices inside predefined too…
Motion PlanningTraining-Free Diffusion Planning with Analytical Local Scores
Path finding and multi-robot motion planning require trajectories that are smooth, goal-directed, and collision-free in environments with complex geometric constraints. Recent diffusion-based planners have shown that tra…
Motion PlanningCoding Agents for Generalized Task and Motion Planning Problems
Task and motion planning (TAMP) problems remain difficult even with full observability and object-centric states because discrete decisions are tightly coupled to geometric, kinematic, and dynamic constraints. Generalize…
Program SynthesisMotion PlanningWhy Do Video Diffusion Models Violate Physics? Unveiling the Flaws in Attention Mechanisms
Despite impressive visual quality, state-of-the-art video diffusion models often generate content that violates real-world physical laws. While existing solutions rely on external priors or specialized data, we investiga…
Motion PlanningMotion planning in high dimensional spaces hybridizing RRT and HAR via position-direction decoupling
The exploration of high-dimensional spaces remains a challenging problem, in particular in the presence of narrow passages and small clearances. We propose novel sampling-based path-planning methods for high-dimensional …
Motion PlanningPccDiffuser: Multi-solution Motion Planning for Continuum Robots
We present the PccDiffuser, a conditional diffusion framework for continuum robots that learns a multimodal distribution over complete configuration-space paths and samples multiple candidate solutions in parallel, which…
Computational EfficiencyGraph Neural NetworkMotion PlanningOne Diffusion Model, Two Roles: Guided Trajectory Planning and Safety-Critical Scenario Generation in Closed-Loop Simulation
Diffusion probabilistic models can capture the multi-modal, interaction-rich distribution of joint future trajectories in driving scenes. We show that a single pretrained diffusion traffic model can serve two complementa…
Trajectory PlanningAutonomous DrivingMotion PlanningPlan Along the Way: Event-Triggered Foundation-Model Planning for TAMP Execution in Partially Observable Manipulation
Manipulation in partially observable environments requires planning under incomplete scene information. In such settings, an initially valid plan may execute successfully yet remain insufficient for task completion. Exis…
Motion PlanningEmbodied Scene Rearrangement Planning
This paper introduces Embodied Scene Rearrangement Planning (ESRP), a novel task requiring embodied agents to rearrange furniture in 3D scenes to match a target configuration using only egocentric observations and a top-…
Scene UnderstandingMotion PlanningActive sensing to characterize the heterogeneity of plant stress
While most phenotyping platforms rely primarily on image-based measurements, advanced plant characterization requires the integration of active physiological sensing modali- ties such as chlorophyll fluorescence. We pres…
Motion PlanningPass the Bucket: Efficient, Robust, Local Load Balancing for Teams of Heterogeneous Robots
We study the problem of decentralized, self-organized task sharing for a swarm of heterogeneous robots that collaborate in transportation or other objectives that require coordinated motion planning. To this end, we pres…
Motion PlanningAnytime Global Tensor Motion Planning
Global Tensor Motion Planning (GTMP) solves motion planning with batched tensor operations over a layered multipartite graph. We generalize GTMP so that adjacent-layer edges are realized by any black-box local planner (e…
Motion PlanningLeveraging Inter-object Affordances for Efficient Planning in Contact-rich Tasks
Traditional task-and-motion planning (TAMP) approaches primarily focus on defining sequences of actions along with the necessary geometric and kinematic constraints to execute long-horizon tasks. However, their applicabi…
Motion PlanningMacro-Operator Generation and Predicate Selection for TAMP Operator Learning
Creating symbolic operators by hand is one of the main bottlenecks in deploying Task and Motion Planning systems (TAMP). Recent works show that these operators can instead be learned directly from demonstration data. Exi…
Motion PlanningFast Coordinated Bimanual Motion Planning With Hard Constraints
Bimanual manipulation enables complex tasks but introduces added complexity from the high number of degrees of freedom involved. When handling rigid objects, the relative transformation between the two end effectors must…
Motion PlanningTowards Professional Tennis Styles for Humanoid Robots with Adaptive Motion Planning and Tracking
Humanoid robots have recently demonstrated promising capabilities in real-world ball sports. However, achieving professional motion styles while maintaining strong task performance remains challenging. In this work, we p…
Motion PlanningEvidence-Gated Task and Motion Planning with Vision-Language Models
Robots executing long-horizon manipulation tasks from natural-language instructions must reason about both semantic task structure and geometric feasibility. However, under partial observability, the availability of goal…
Motion PlanningKeeping the Franka Emika Panda alive: a ROS 2 stack with a reliable position interface
This paper presents an open-source software stack that restores ROS 2 support for the Franka Emika Panda robot while resolving the long-standing unreliability of its external position control interface. We first analyze …
Motion PlanningBackward Layout Search for Sequence-Constrained Robotic Assembly
Robotic assembly layout planning must determine the assembly site and the initial pose of each part while ensuring collision-free execution of a prescribed assembly sequence. This problem is challenging because the obsta…
Motion PlanningWhen Automata Meet Streams: Temporal Logic Compilation for Stream-Based Robotics Task and Motion Planning
Stream-based robotics Task and Motion Planning (TAMP) integrates discrete symbolic planning with dynamically generated continuous geometric parameters, such as poses, grasps, and trajectories. However, stream-based plann…
Motion Planning