Robot Simulation

Overview of the SkillWrapper architecture.

SkillWrapper: Generative Predicate Invention for Skill Abstraction

TL;DR – This paper introduces SkillWrapper, a system for creating abstract representations of skills using foundation models.

[IROS-25] Least Commitment Planning for the Object Scouting Problem

TL;DR – This paper introduces a new planning framework for object scouting called the Scouting Partial-Order Planner, which exploits partial order and regression planning to plan around gaps in knowledge the robot may have about the existence, location, and state of relevant objects in its environment.

Example of simple block stacking task performed in our LLM-OLP paper

[ICRA-25] Bootstrapping Object-level Planning with Large Language Models

TL;DR – This paper formalizes the concept of object-level planning and discusses how this level of planning naturally integrates with large language models (LLMs).

Rationing and frictional unemployment in the United States, 1964–2009

[RAL-23] Long-Horizon Planning and Execution with Functional Object-Oriented Networks

TL;DR – In this paper, we introduce the idea of connecting FOONs to robotic task and motion planning. We automatically transform a FOON graph, which exists at the object level (i.e., it is a representation that uses meaningful labels or expressions close to human language), into task planning specifications written in PDDL (not a very intuitive way to communicate about tasks).