Closed-Loop Long-Horizon Robotic Planning via Equilibrium Sequence Modeling

This repository contains code required to convert FOON graph files into a PDDL-readable format, which can then be used for further planning approaches with off-the-shelf planners.

This repository contains code for processing FOONs, a knowledge graph representation to facilitate robotic task planning!

A programmatic LLM prompt structure that enables plan generation functional across situated environments, robot capabilities, and tasks.

Code for Transformers are Adaptable Task Planners, CoRL 2022

[CoRL 2022] BusyBot: Learning to Interact, Reason, and Plan in a BusyBoard Environment

Code for the paper "Differentiable Task Graph Learning: Procedural Activity Representation and Online Mistake Detection from Egocentric Videos" [NeurIPS (spotlight), 2024]

Code for the ICRA 2024 Cook2LTL paper on translating free-form cooking recipes to Linear Temporal Logic (LTL) formulae for robot task planning.

Turn STL formulas into maps and planed paths, control robots with DRL controllers.

Planning as In-Painting: A Diffusion-Based Embodied Task Planning Framework for Environments under Uncertainty

Task Allocation Strategy to distribute goals (in a decentralised manner) in a heterogeneous fleet considering, goals makespan, goals position, robot capabilities.

Tools to use ROSPlan in Python

Task Allocation Strategy to distribute goals in a fleet considering, goals makespan, goals position, robot capabilities and redundancy in the sensory system.

Human Demo Videos to Robot Action Plans

[NeurIPS 2024] Official implementation for paper "Can Graph Learning Improve Planning in LLM-based Agents?"

[NeurIPS 2023] We use large language models as commonsense world model and heuristic policy within Monte-Carlo Tree Search, enabling better-reasoned decision-making for daily task planning problems.

Integrating learning and task planning for robots with Keras, including simulation, real robot, and multiple dataset support.