THEME · Physical AI

Planning

Path planning and navigation for single robots and fleets — learned search, multi-agent pathfinding, replanning, and risk-aware routes on rough terrain.

10 projects

ViLaIn-TAMPIROS 2026
Grounded Vision-Language Interpreter for Integrated Task and Motion Planning
While recent advances in vision-language models (VLMs) have accelerated the development of language-guided robot planners, their black-box nature often lacks safety guarantees and interpretability crucial for real-world deployment. This paper proposes ViLaIn-TAMP, a hybrid planning framework for enabling verifiable, interpretable, and autonomous robot behaviors.
Multi-Agent Behavior RetrievalIROS 2024
Retrieval-Augmented Policy Training for Cooperative Manipulation by Mobile Robots
introduces the Multi-Agent Coordination Skill Database, allowing multiple mobile robots to efficiently use past memories to adapt to new tasks.
when2replanICRA 2024
When to Replan? An Adaptive Replanning Strategy for Autonomous Navigation using Deep Reinforcement Learning
propose an adaptive replanning strategy using deep reinforcement learning
PeriodicMAPPAAAI 2023
Periodic Multi-Agent Path Planning
Study of multi-agent path planning where agents appear periodically.
ncf2AAMAS 2023
Counterfactual Fairness Filter for Fair-Delay Multi-Robot Navigation
explore a new problem setting and solution algorithms for fairness-aware multi-robot navigtaion tasks
safe-rover-naviICRA 2023
Risk-aware Path Planning via Probabilistic Fusion of Traversability Prediction for Planetary Rovers on Heterogeneous Terrains
The official code respository for "Risk-aware Path Planning via Probabilistic Fusion of Traversability Prediction for Planetary Rovers on Heterogeneous Terrains" (ICRA 2023)
CTRMsAAMAS 2022
Learning to Construct Cooperative Timed Roadmaps for Multi-agent Path Planning in Continuous Spaces
explore data-driven multi-agent path planning in continuous space. Our approach learns a generative model from planning demonstrations to build effective roadmaps, which improves planning efficiency while keeping high success rate & solution quality.
PSIPP-CTCIROS 2022
Prioritized Safe Interval Path Planning for Multi-Agent Pathfinding with Continuous Time on 2D Roadmaps
explore a challenging multi-agent pathfinding problem for hundreds of agents moving on a 2D roadmap with continuous time.
neural-astarICML 2021
Path Planning using Neural A* Search
Novel data-driven search-based planner based on differentiable A*
L2BIROS 2020
Learning to Balance the Safety-Efficiency Trade-off in Interactive Crowd-aware Robot Navigation
A robot that learns when to ask a crowd to make room and when to detour, raising navigation success in dense crowds.

Grounded Vision-Language Interpreter for Integrated Task and Motion Planning

Retrieval-Augmented Policy Training for Cooperative Manipulation by Mobile Robots

When to Replan? An Adaptive Replanning Strategy for Autonomous Navigation using Deep Reinforcement Learning

Periodic Multi-Agent Path Planning

Counterfactual Fairness Filter for Fair-Delay Multi-Robot Navigation

Risk-aware Path Planning via Probabilistic Fusion of Traversability Prediction for Planetary Rovers on Heterogeneous Terrains

Learning to Construct Cooperative Timed Roadmaps for Multi-agent Path Planning in Continuous Spaces

Prioritized Safe Interval Path Planning for Multi-Agent Pathfinding with Continuous Time on 2D Roadmaps

Path Planning using Neural A* Search

Learning to Balance the Safety-Efficiency Trade-off in Interactive Crowd-aware Robot Navigation