People

Caelan Garrett

Caelan Garrett (mit.edu)

Research Area(s)
Artificial Intelligence and Machine Learning
Robotics
Main Field of Interest
Robotics
Google Scholar
https://scholar.google.com/citations?user=KVUCqGwAAAAJ&hl=en

Publications

2024

scene_synthesizer: A Python Library for Procedural Scene Generation in Robot Manipulation
Clemens Eppner, Adithya Murali, Caelan Garrett, Rowland O'Flaherty, Tucker Hermans, Wei Yang, Dieter Fox
The Journal of Open Source Software
Differentiable GPU-Parallelized Task and Motion Planning
William Shen, Caelan Garrett, Ankit Goyal, Tucker Hermans, Fabio Ramos
CoRL 2024 Workshop on Differentiable Optimization
SPIRE: Synergistic Planning, Imitation, and Reinforcement Learning for Long-Horizon Manipulation
Zihan Zhou, Animesh Garg, Dieter Fox, Caelan Garrett, Ajay Mandlekar
Conference on Robot Learning (CoRL)
NOD-TAMP: Generalizable Long-Horizon Planning with Neural Object Descriptors
Shuo Cheng, Caelan Garrett, Ajay Mandlekar, Danfei Xu
Conference on Robot Learning (CoRL)
SkillGen: Automated Demonstration Generation for Efficient Skill Learning and Deployment
Caelan Garrett, Ajay Mandlekar, Bowen Wen, Dieter Fox
Conference on Robot Learning (CoRL)
HAMSTER: Hierarchical Action Models for Open-World Robot Manipulation
Yi Li, Yuquan Deng, Jesse Zhang, Joel Jang, Marius Memmel, Caelan Garrett, Fabio Ramos, Dieter Fox, Anqi Li, Abhishek Gupta, Ankit Goyal
CoRL 2024 Workshop on Language and Robot Learning Language as an Interface
Guiding Long-Horizon Task and Motion Planning with Vision Language Models
Zhutian Yang, Caelan Garrett, Dieter Fox, Tomás Lozano-Pérez, Leslie Pack Kaelbling
CoRL 2024 Workshop on Language and Robot Learning Language as an Interface
Open-World Task and Motion Planning via Vision-Language Model Inferred Constraints
Nishanth Kumar, Fabio Ramos, Dieter Fox, Caelan Garrett
CoRL 2024 Workshop on Language and Robot Learning Language as an Interface
Constructability-driven design of frame structures with state-space search methods
Yijiang Huang, Caelan Garrett, Caitlin Mueller
Automation in Construction
DiMSam: Diffusion Models as Samplers for Task and Motion Planning under Partial Observability
Xiaolin Fang, Caelan Garrett, Clemens Eppner, Tomás Lozano-Pérez, Leslie Pack Kaelbling, Dieter Fox
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Best Conference Paper Finalist, Best Student Paper Finalist
Interventional Data Generation for Robust and Data-Efficient Robot Imitation Learning
Ryan Hoque, Ajay Mandlekar, Caelan Garrett, Ken Goldberg, Dieter Fox
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

2023

Imitating Task and Motion Planning with Visuomotor Transformers
Murtaza Dalal, Ajay Mandlekar, Caelan Garrett, Ankur Handa, Ruslan Salakhutdinov, Dieter Fox
CoRL 2023
Human-In-The-Loop Task and Motion Planning for Imitation Learning
Ajay Mandlekar, Caelan Garrett, Danfei Xu, Dieter Fox
CoRL 2023
Meta-Policy Learning over Plan Ensembles for Robust Articulated Object Manipulation
Constantinos Chamzas, Caelan Garrett, Balakumar Sundaralingam, Lydia Kavraki, Dieter Fox
RSS 2023 Workshop on Learning for Task and Motion Planning
Sequence-Based Plan Feasibility Prediction for Efficient Task and Motion Planning
Zhutian Yang, Caelan Garrett, Tomás Lozano-Pérez, Leslie Pack Kaelbling, Dieter Fox
Robotics: Science and Systems (RSS)
CuRobo: Parallelized Collision-Free Robot Motion Generation
Balakumar Sundaralingam, Siva Hari, Adam Fishman, Caelan Garrett, Karl Van Wyk, Valts Blukis, Alexander Millane, Helen Oleynikova, Ankur Handa, Fabio Ramos, Nathan Ratliff, Dieter Fox
IEEE International Conference on Robotics and Automation (ICRA)

2022

Cooperative Task and Motion Planning for Multi-Arm Assembly Systems
Jingkai Chen, Jiaoyang Li, Yijiang Huang, Caelan Garrett, Dawei Sun, Chuchu Fan, Andreas Hofmann, Caitlin Mueller, Sven Koenig, Brian Williams
https://arxiv.org/abs/2203.02475

2020

Online replanning in belief space for partially observable task and motion problems
Caelan Garrett, Chris Paxton, Tomas Lozano-Perez, Leslie Kaebling, Dieter Fox
ICRA 2020