Cover Image

Differentiable GPU-Parallelized Task and Motion Planning

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Shen, William, Garrett, Caelan, Kumar, Nishanth, Goyal, Ankit, Hermans, Tucker, Kaelbling, Leslie Pack, Lozano-Pérez, Tomás, Ramos, Fabio
Format:	Preprint
Published:	2024
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Open-World Task and Motion Planning via Vision-Language Model Generated Constraints
by: Kumar, Nishanth, et al.
Published: (2024)

Guiding Long-Horizon Task and Motion Planning with Vision Language Models
by: Yang, Zhutian, et al.
Published: (2024)

DiMSam: Diffusion Models as Samplers for Task and Motion Planning under Partial Observability
by: Fang, Xiaolin, et al.
Published: (2023)

ScheduleStream: Temporal Planning with Samplers for GPU-Accelerated Multi-Arm Task and Motion Planning & Scheduling
by: Garrett, Caelan, et al.
Published: (2025)

Learning to Bridge the Gap: Efficient Novelty Recovery with Planning and Reinforcement Learning
by: Li, Alicia, et al.
Published: (2024)

Trust the PRoC3S: Solving Long-Horizon Robotics Problems with LLMs and Constraint Satisfaction
by: Curtis, Aidan, et al.
Published: (2024)

Towards Practical Finite Sample Bounds for Motion Planning in TAMP
by: Shaw, Seiji, et al.
Published: (2024)

Partially Observable Task and Motion Planning with Uncertainty and Risk Awareness
by: Curtis, Aidan, et al.
Published: (2024)

Rational Inverse Reasoning
by: Zandonati, Ben, et al.
Published: (2025)

Predicate Invention for Bilevel Planning
by: Silver, Tom, et al.
Published: (2022)

TiPToP: A Modular Open-Vocabulary Planning System for Robotic Manipulation
by: Shen, William, et al.
Published: (2026)

Embodied Uncertainty-Aware Object Segmentation
by: Fang, Xiaolin, et al.
Published: (2024)

Combining Planning and Diffusion for Mobility with Unknown Dynamics
by: Ravan, Yajvan, et al.
Published: (2024)

Practice Makes Perfect: Planning to Learn Skill Parameter Policies
by: Kumar, Nishanth, et al.
Published: (2024)

SceneComplete: Open-World 3D Scene Completion in Cluttered Real World Environments for Robot Manipulation
by: Agarwal, Aditya, et al.
Published: (2024)

From Pixels to Predicates: Learning Symbolic World Models via Pretrained Vision-Language Models
by: Athalye, Ashay, et al.
Published: (2024)

Bi-Level Belief Space Search for Compliant Part Mating Under Uncertainty
by: Chintalapudi, Sahit, et al.
Published: (2024)

Guided Exploration for Efficient Relational Model Learning
by: Feng, Annie, et al.
Published: (2025)

Seeing is Believing: Belief-Space Planning with Foundation Models as Uncertainty Estimators
by: Zhao, Linfeng, et al.
Published: (2025)

Which Reconstruction Model Should a Robot Use? Routing Image-to-3D Models for Cost-Aware Robotic Manipulation
by: Anand, Akash, et al.
Published: (2026)

One-Shot Manipulation Strategy Learning by Making Contact Analogies
by: Liu, Yuyao, et al.
Published: (2024)

Learning to Plan & Schedule with Reinforcement-Learned Bimanual Robot Skills
by: Wan, Weikang, et al.
Published: (2025)

"Set It Up!": Functional Object Arrangement with Compositional Generative Models
by: Xu, Yiqing, et al.
Published: (2024)

Streaming Flow Policy: Simplifying diffusion/flow-matching policies by treating action trajectories as flow trajectories
by: Jiang, Sunshine, et al.
Published: (2025)

"Set It Up": Functional Object Arrangement with Compositional Generative Models (Journal Version)
by: Xu, Yiqing, et al.
Published: (2025)

Pick and Place Planning is Better than Pick Planning then Place Planning
by: Shanthi, Mohanraj Devendran, et al.
Published: (2024)

Planning under Uncertainty to Goal Distributions
by: Conkey, Adam, et al.
Published: (2020)

Keypoint Abstraction using Large Models for Object-Relative Imitation Learning
by: Fang, Xiaolin, et al.
Published: (2024)

What Planning Problems Can A Relational Neural Network Solve?
by: Mao, Jiayuan, et al.
Published: (2023)

First Plan Then Evaluate: Use a Vectorized Motion Planner for Grasping
by: Matak, Martin, et al.
Published: (2025)

Distilled Feature Fields Enable Few-Shot Language-Guided Manipulation
by: Shen, William, et al.
Published: (2023)

NOD-TAMP: Generalizable Long-Horizon Planning with Neural Object Descriptors
by: Cheng, Shuo, et al.
Published: (2023)

Constrained Stein Variational Gradient Descent for Robot Perception, Planning, and Identification
by: Tabor, Griffin, et al.
Published: (2025)

cpRRTC: GPU-Parallel RRT-Connect for Constrained Motion Planning
by: Hu, Jiaming, et al.
Published: (2025)

GCS*: Forward Heuristic Search on Implicit Graphs of Convex Sets
by: Chia, Shao Yuan Chew, et al.
Published: (2024)

Compositional Generative Modeling: A Single Model is Not All You Need
by: Du, Yilun, et al.
Published: (2024)

pRRTC: GPU-Parallel RRT-Connect for Fast, Consistent, and Low-Cost Motion Planning
by: Huang, Chih H., et al.
Published: (2025)

Points2Plans: From Point Clouds to Long-Horizon Plans with Composable Relational Dynamics
by: Huang, Yixuan, et al.
Published: (2024)

STAMP: Differentiable Task and Motion Planning via Stein Variational Gradient Descent
by: Lee, Yewon, et al.
Published: (2023)

SPIRE: Synergistic Planning, Imitation, and Reinforcement Learning for Long-Horizon Manipulation
by: Zhou, Zihan, et al.
Published: (2024)