Caelan R. Garrett — accepted AI-conference papers

2023

Sequence-Based Plan Feasibility Prediction for Efficient Task and Motion Planning

Zhutian Yang, Caelan R Garrett, Tomas Lozano-Perez, Leslie Kaelbling, Dieter Fox

RSS 2023poster

We present a learning-enabled Task and Motion Planning (TAMP) algorithm for solving mobile manipulation problems in environments with many articulated and movable obstacles. Our idea is to bias the search procedure of a traditional TAMP planner with a learned plan feasibility predictor. The core of…

Cited by 30 Source ↗PDF ↗Scholar ↗

2016

Humanoid manipulation planning using backward-forward search

Michael X. Grey, Caelan R. Garrett, C. Karen Liu, Aaron D. Ames, Andrea L. Thomaz

IROS 2016poster

This paper explores combining task and manipulation planning for humanoid robots. Existing methods tend to either take prohibitively long to compute for humanoids or artificially limit the physical capabilities of the humanoid platform by restricting the robot's actions to predetermined trajectories…

Cited by 10 Source ↗Scholar ↗