TAMP

[CVPR23] Diffusion-based Generation, Optimization, and Planning in 3D Scenes
We introduce SceneDiffuser, a conditional generative model for 3D scene understanding. SceneDiffuser provides a unified model for …
Siyuan Huang, Zan Wang, Puhao Li, Baoxiong Jia, Tengyu Liu, Yixin Zhu, Wei Liang, Song-Chun Zhu
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[CVPR23] Diffusion-based Generation, Optimization, and Planning in 3D Scenes
[IROS22] Sequential Manipulation Planning on Scene Graph
We devise a 3D scene graph representation, contact graph+ (cg+), for efficient sequential manipulation planning. Augmented with …
Ziyuan Jiao, Yida Niu, Zeyu Zhang, Song-Chun Zhu, Yixin Zhu, Hangxin Liu
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[IROS22] Sequential Manipulation Planning on Scene Graph
[IROS21] Consolidating Kinematic Models to Promote Coordinated Mobile Manipulations
We construct a Virtual Kinematic Chain (VKC) that readily consolidates the kinematics of the mobile base, the arm, and the object to be …
Ziyuan Jiao, Zeyu Zhang, Xin Jiang, David Han, Song-Chun Zhu, Yixin Zhu, Hangxin Liu
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[IROS21] Consolidating Kinematic Models to Promote Coordinated Mobile Manipulations
[IROS21] Efficient Task Planning for Mobile Manipulation: a Virtual Kinematic Chain Perspective
We present a Virtual Kinematic Chain (VKC) perspective, a simple yet effective method, to improve task planning efficacy for mobile …
Ziyuan Jiao, Zeyu Zhang, Weiqi Wang, David Han, Song-Chun Zhu, Yixin Zhu, Hangxin Liu
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[IROS21] Efficient Task Planning for Mobile Manipulation: a Virtual Kinematic Chain Perspective