TL
Tomás Lozano-Pérez
cs.ROcs.AIcs.LGstat.MLcs.CVAlgorithmsstat.APComputer-Aided Designcs.CGcs.DS
On Valency
published · living versionsW_742jsxyk·v1 · currentpublished
FEIJOA: Task-Driven Grounding and Execution for Mobile Manipulation
with Aditya Agarwal, William Shen, Sahit Chintalapudi, Lucy Cai +4
1 version
Preprints & journals
96 papers in the corpus · 1984–2026RAPID: Robot Agentic Programming from Demonstrations2609.30249v1 · Yuyao Liu, Jiayuan Mao, David Hsu et al.2026 · 0 citationsarXiv
TiPToP: A Modular Open-Vocabulary Robot Manipulation System That Plans2603.09971v2 · William Shen, Nishanth Kumar, Sahit Chintalapudi et al.2026 · 0 citationsarXiv
Rational Inverse Reasoning: Few-Shot Imitation by Inferring Intent through Planning2508.08983v2 · Ben Zandonati, Tom'as Lozano-P'erez, Leslie Pack Kaelbling2025 · 0 citationsarXiv
"Set It Up": Functional Object Arrangement with Compositional Generative Models (Journal Version)2508.02068v2 · Yiqing Xu, Jiayuan Mao, Linfeng Li et al.2025 · 0 citationsarXiv
Streaming Flow Policy: Simplifying diffusion/flow-matching policies by treating action trajectories as flow trajectories2505.21851v2 · Sunshine Jiang, Xiaolin Fang, Nicholas Roy et al.2025 · 0 citationsarXiv
LLM-Guided Probabilistic Program Induction for POMDP Model Estimation2505.02216v2 · Aidan Curtis, Hao Tang, Thiago Veloso et al.2025 · 0 citationsarXiv
Guided Exploration for Efficient Relational Model Learning2502.06146v2 · Annie Feng, Nishanth Kumar, Tomas Lozano-Perez et al.2025 · 0 citationsarXiv
From Pixels to Predicates: Learning Symbolic World Models via Pretrained Vision-Language Models2501.00296v4 · Ashay Athalye, Nishanth Kumar, Tom Silver et al.2024 · 1 citationarXiv
Functional Risk Minimization2412.21149v1 · Ferran Alet, Clement Gehring, Tom'as Lozano-P'erez et al.2024 · 0 citationsarXiv
Differentiable GPU-Parallelized Task and Motion Planning2411.11833v2 · William Shen, Caelan Garrett, Nishanth Kumar et al.2024 · 1 citationarXiv
One-Shot Manipulation Strategy Learning by Making Contact Analogies2411.09627v2 · Yuyao Liu, Jiayuan Mao, Joshua Tenenbaum et al.2024 · 1 citationarXiv
Open-World Task and Motion Planning via Vision-Language Model Generated Constraints2411.08253v4 · Nishanth Kumar, William Shen, Fabio Ramos et al.2024 · 2 citationsarXiv
SceneComplete: Open-World 3D Scene Completion in Cluttered Real World Environments for Robot Manipulation2410.23643v5 · Aditya Agarwal, Gaurav Singh, Bipasha Sen et al.2024 · 2 citationsarXiv
Keypoint Abstraction using Large Models for Object-Relative Imitation Learning2410.23254v1 · Xiaolin Fang, Bo-Ruei Huang, Jiayuan Mao et al.2024 · 1 citationarXiv
Combining Planning and Diffusion for Mobility with Unknown Dynamics2410.06911v1 · Yajvan Ravan, Zhutian Yang, Tao Chen et al.2024 · 0 citationsarXiv
Guiding Long-Horizon Task and Motion Planning with Vision Language Models2410.02193v1 · Zhutian Yang, Caelan Garrett, Dieter Fox et al.2024 · 28 citationsarXiv
Learning to Bridge the Gap: Efficient Novelty Recovery with Planning and Reinforcement Learning2409.19226v1 · Alicia Li, Nishanth Kumar, Tom'as Lozano-P'erez et al.2024 · 0 citationsarXiv
Bi-Level Belief Space Search for Compliant Part Mating Under Uncertainty2409.15774v1 · Sahit Chintalapudi, Leslie Kaelbling, Tomas Lozano-Perez2024 · 0 citationsarXiv
Embodied Uncertainty-Aware Object Segmentation2408.04760v1 · Xiaolin Fang, Leslie Pack Kaelbling, Tom'as Lozano-P'erez2024 · 4 citationsarXiv
Towards Practical Finite Sample Bounds for Motion Planning in TAMP2407.17394v3 · Seiji Shaw, Aidan Curtis, Leslie Pack Kaelbling et al.2024 · 0 citationsarXiv
Trust the PRoC3S: Solving Long-Horizon Robotics Problems with LLMs and Constraint Satisfaction2406.05572v2 · Aidan Curtis, Nishanth Kumar, Jing Cao et al.2024 · 1 citationarXiv
"Set It Up!": Functional Object Arrangement with Compositional Generative Models2405.11928v3 · Yiqing Xu, Jiayuan Mao, Yilun Du et al.2024 · 4 citationsarXiv
Partially Observable Task and Motion Planning with Uncertainty and Risk Awareness2403.10454v2 · Aidan Curtis, George Matheos, Nishad Gothoskar et al.2024 · 8 citationsarXiv
Practice Makes Perfect: Planning to Learn Skill Parameter Policies2402.15025v2 · Nishanth Kumar, Tom Silver, Willie McClinton et al.2024 · 0 citationsarXiv
What Planning Problems Can A Relational Neural Network Solve?2312.03682v2 · Jiayuan Mao, Tom'as Lozano-P'erez, Joshua B. Tenenbaum et al.2023 · 1 citationarXiv
Learning Reusable Manipulation Strategies2311.03293v1 · Jiayuan Mao, Joshua B. Tenenbaum, Tom'as Lozano-P'erez et al.2023 · 3 citationsarXiv
Neural Relational Inference with Fast Modular Meta-learning2310.07015v1 · Ferran Alet, Erica Weng, Tom'as Lozano P'erez et al.2023 · 29 citationsarXiv
Compositional Diffusion-Based Continuous Constraint Solvers2309.00966v1 · Zhutian Yang, Jiayuan Mao, Yilun Du et al.2023 · 2 citationsProceedings of CoRL 2023
Embodied Lifelong Learning for Task and Motion Planning2307.06870v2 · Jorge Mendez-Mendez, Leslie Pack Kaelbling, Tom'as Lozano-P'erez2023 · 8 citationsarXiv
DiMSam: Diffusion Models as Samplers for Task and Motion Planning under Partial Observability2306.13196v3 · Xiaolin Fang, Caelan Reed Garrett, Clemens Eppner et al.2023 · 16 citationsarXiv
Learning Rational Subgoals from Demonstrations and Instructions2303.05487v1 · Zhezheng Luo, Jiayuan Mao, Jiajun Wu et al.2023 · 0 citationsarXiv
PDSketch: Integrated Planning Domain Programming and Learning2303.05501v2 · Jiayuan Mao, Tom'as Lozano-P'erez, Joshua B. Tenenbaum et al.2023 · 1 citationarXiv
Local Neural Descriptor Fields: Locally Conditioned Object Representations for Manipulation2302.03573v2 · Ethan Chun, Yilun Du, Anthony Simeonov et al.2023 · 19 citationsarXiv
Visibility-Aware Navigation Among Movable Obstacles2212.02671v1 · Jose Muguira-Iturralde, Aidan Curtis, Yilun Du et al.2022 · 7 citationsarXiv
SE(3)-Equivariant Relational Rearrangement with Neural Descriptor Fields2211.09786v1 · Anthony Simeonov, Yilun Du, Lin Yen-Chen et al.2022 · 7 citationsarXiv
Sequence-Based Plan Feasibility Prediction for Efficient Task and Motion Planning2211.01576v2 · Zhutian Yang, Caelan Reed Garrett, Tom'as Lozano-P'erez et al.2022 · 18 citationsRobotics: Science and Systems (RSS) 2023
Learning Efficient Abstract Planning Models that Choose What to Predict2208.07737v3 · Nishanth Kumar, Willie McClinton, Rohan Chitnis et al.2022 · 3 citationsarXiv
Robust Planning for Multi-stage Forceful Manipulation2208.00319v2 · Rachel Holladay, Tom'as Lozano-P'erez, Alberto Rodriguez2022 · 13 citationsarXiv
Learning Neuro-Symbolic Skills for Bilevel Planning2206.10680v2 · Tom Silver, Ashay Athalye, Joshua B. Tenenbaum et al.2022 · 20 citationsarXiv
Fully Persistent Spatial Data Structures for Efficient Queries in Path-Dependent Motion Planning Applications2206.02305v1 · Sathwik Karnik, Tom'as Lozano-P'erez, Leslie Pack Kaelbling et al.2022 · 0 citationsarXiv
PG3: Policy-Guided Planning for Generalized Policy Generation2204.10420v1 · Ryan Yang, Tom Silver, Aidan Curtis et al.2022 · 2 citationsarXiv
Predicate Invention for Bilevel Planning2203.09634v3 · Tom Silver, Rohan Chitnis, Nishanth Kumar et al.2022 · 16 citationsarXiv
Representation, learning, and planning algorithms for geometric task and motion planning2203.04605v1 · Beomjoon Kim, Luke Shimanuki, Leslie Pack Kaelbling et al.2022 · 25 citationsInternational Journal of Robotics Research 2021
Specifying and achieving goals in open uncertain robot-manipulation domains2112.11199v1 · Leslie Pack Kaelbling, Alex LaGrassa, Tom'as Lozano-P'erez2021 · 0 citationsarXiv
Fragmented Spatial Maps: State Abstraction and Efficient Planning from Surprisal10.1101/2021.10.29.466499v2 · Klukas, M., Sharma, S., Du, Y. et al.2021 · 3 citationsbioRxiv
From Machine Learning to Robotics: Challenges and Opportunities for Embodied Intelligence2110.15245v1 · Nicholas Roy, Ingmar Posner, Tim Barfoot et al.2021 · 50 citationsarXiv
Discovering State and Action Abstractions for Generalized Task and Motion Planning2109.11082v1 · Aidan Curtis, Tom Silver, Joshua B. Tenenbaum et al.2021 · 15 citationsarXiv
Long-Horizon Manipulation of Unknown Objects via Task and Motion Planning with Estimated Affordances2108.04145v2 · Aidan Curtis, Xiaolin Fang, Leslie Pack Kaelbling et al.2021 · 34 citationsarXiv
Active Learning of Abstract Plan Feasibility2107.00683v1 · Michael Noseworthy, Caris Moses, Isaiah Brand et al.2021 · 14 citationsarXiv
Learning Neuro-Symbolic Relational Transition Models for Bilevel Planning2105.14074v3 · Rohan Chitnis, Tom Silver, Joshua B. Tenenbaum et al.2021 · 27 citationsarXiv
Career total: 303 works. 96 are in this corpus.Showing the 50 most recent.
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