AAAI 2026technical0 citations
PhyPlan: Learning to Plan Tasks with Generalizable and Rapid Physical Reasoning for Embodied Manipulation
Ankit Kanwar, Hartej Soin, Abhinav Barnawal, Mudit Chopra, Harshil Vagadia, Tamajit Banerjee, Shreshth Tuli, Rohan Paul
Abstract
Given the task of landing a ball in a goal region beyond direct reach, humans can often throw, slide, or rebound objects against the wall to attain the goal. Enabling robots to replicate such reasoning is non-trivial as it requires multi-step planning and involves a mixture of discrete and continuous action spaces, a sparse and sensitive reward structure, computationally expensive simulations, and an incomplete understanding of the environment
BibTeX
@inproceedings{aaai2026_phyplanlearningt,
title = {PhyPlan: Learning to Plan Tasks with Generalizable and Rapid Physical Reasoning for Embodied Manipulation},
author = {Ankit Kanwar and Hartej Soin and Abhinav Barnawal and Mudit Chopra and Harshil Vagadia and Tamajit Banerjee and Shreshth Tuli and Rohan Paul and Souvik Chakraborty},
booktitle = {AAAI 2026},
year = {2026}
}