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05/17/2023
RAMP: Hierarchical Reactive Motion Planning for Manipulation Tasks Using Implicit Signed Distance Functions
We introduce Reactive Action and Motion Planner (RAMP), which combines t...
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05/12/2022
Reactive Informative Planning for Mobile Manipulation Tasks under Sensing and Environmental Uncertainty
In this paper we address mobile manipulation planning problems in the pr...
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02/03/2022
Technical Report: A Hierarchical Deliberative-Reactive System Architecture for Task and Motion Planning in Partially Known Environments
We describe a task and motion planning architecture for highly dynamic s...
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11/01/2020
Technical Report: Reactive Planning for Mobile Manipulation Tasks in Unexplored Semantic Environments
Complex manipulation tasks, such as rearrangement planning of numerous o...
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02/25/2020
Technical Report: Reactive Semantic Planning in Unexplored Semantic Environments Using Deep Perceptual Feedback
This paper presents a reactive planning system that enriches the topolog...
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02/20/2020
Reactive Navigation in Partially Familiar Planar Environments Using Semantic Perceptual Feedback
This paper solves the planar navigation problem by recourse to an online...
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07/23/2018