Caelan Garrett | Research

Caelan Garrett

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

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)

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)

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, William Shen, Fabio Ramos, Dieter Fox, Tomás Lozano-Pérez, Leslie Pack Kaelbling, Caelan Garrett

CoRL 2024 Workshop on Language and Robot Learning Language as an Interface

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

Constructability-driven design of frame structures with state-space search methods

Yijiang Huang, Caelan Garrett, Caitlin Mueller

Automation in Construction

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)

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

2023

Imitating Task and Motion Planning with Visuomotor Transformers

Murtaza Dalal, Ajay Mandlekar, Caelan Garrett, Ankur Handa, Ruslan Salakhutdinov, Dieter Fox

Human-In-The-Loop Task and Motion Planning for Imitation Learning

Ajay Mandlekar, Caelan Garrett, Danfei Xu, Dieter Fox

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)

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

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