Caelan Reed Garrett

64 papers A* 7A 5C 1Misc 5Journal 41Unranked 4
YearRankTypeTitle / Venue / Authors
2026 J jnl
Open-World Task and Motion Planning via Vision-Language Model Generated Constraints.
IEEE Robotics Autom. Lett.
Nishanth Kumar, William Shen, Fabio Ramos, Dieter Fox, Tomás Lozano-Pérez, Leslie Pack Kaelbling, Caelan Reed Garrett
2025 J jnl
Generalizable Domain Adaptation for Sim-and-Real Policy Co-Training.
CoRR
Shuo Cheng, Liqian Ma, Zhenyang Chen, Ajay Mandlekar, Caelan Reed Garrett, Danfei Xu
2025 A* conf
Guiding Long-Horizon Task and Motion Planning with Vision Language Models.
ICRA
Zhutian Yang, Caelan Reed Garrett, Dieter Fox, Tomás Lozano-Pérez, Leslie Pack Kaelbling
2025 J jnl
HAMSTER: Hierarchical Action Models For Open-World Robot Manipulation.
CoRR
Yi Li, Yuquan Deng, Jesse Zhang, Joel Jang, Marius Memmel, Raymond Yu, Caelan Reed Garrett, Fabio Ramos, Dieter Fox, Anqi Li, Abhishek Gupta, Ankit Goyal
2025 A* conf
HAMSTER: Hierarchical Action Models for Open-World Robot Manipulation.
ICLR
Yi Li, Yuquan Deng, Jesse Zhang, Joel Jang, Marius Memmel, Caelan Reed Garrett, Fabio Ramos, Dieter Fox, Anqi Li, Abhishek Gupta, Ankit Goyal
2025 J jnl
Learning to Plan & Schedule with Reinforcement-Learned Bimanual Robot Skills.
CoRR
Weikang Wan, Fabio Ramos, Xuning Yang, Caelan Reed Garrett
2025 J jnl
ReinforceGen: Hybrid Skill Policies with Automated Data Generation and Reinforcement Learning.
CoRR
Zihan Zhou, Animesh Garg, Ajay Mandlekar, Caelan Reed Garrett
2025 J jnl
ScheduleStream: Temporal Planning with Samplers for GPU-Accelerated Multi-Arm Task and Motion Planning & Scheduling.
CoRR
Caelan Reed Garrett, Fabio Ramos
2025 J jnl
The Reality Gap in Robotics: Challenges, Solutions, and Best Practices.
CoRR
Elie Aljalbout, Jiaxu Xing, Angel Romero, Iretiayo Akinola, Caelan Reed Garrett, Eric Heiden, Abhishek Gupta, Tucker Hermans, Yashraj Narang, Dieter Fox, Davide Scaramuzza, Fabio Ramos
2025 J jnl
scene_synthesizer: A Python Library for Procedural Scene Generation in Robot Manipulation.
J. Open Source Softw.
Clemens Eppner, Adithyavairavan Murali, Caelan Reed Garrett, Rowland O'Flaherty, Tucker Hermans, Wei Yang, Dieter Fox
2024 A conf
DiMSam: Diffusion Models as Samplers for Task and Motion Planning under Partial Observability.
IROS
Xiaolin Fang, Caelan Reed Garrett, Clemens Eppner, Tomás Lozano-Pérez, Leslie Pack Kaelbling, Dieter Fox
2024 J jnl
Differentiable GPU-Parallelized Task and Motion Planning.
CoRR
William Shen, Caelan Reed Garrett, Ankit Goyal, Tucker Hermans, Fabio Ramos
2024 J jnl
Guiding Long-Horizon Task and Motion Planning with Vision Language Models.
CoRR
Zhutian Yang, Caelan Reed Garrett, Dieter Fox, Tomás Lozano-Pérez, Leslie Pack Kaelbling
2024 A conf
IntervenGen: Interventional Data Generation for Robust and Data-Efficient Robot Imitation Learning.
IROS
Ryan Hoque, Ajay Mandlekar, Caelan Reed Garrett, Ken Goldberg, Dieter Fox
2024 J jnl
IntervenGen: Interventional Data Generation for Robust and Data-Efficient Robot Imitation Learning.
CoRR
Ryan Hoque, Ajay Mandlekar, Caelan Reed Garrett, Ken Goldberg, Dieter Fox
2024 Misc conf
NOD-TAMP: Generalizable Long-Horizon Planning with Neural Object Descriptors.
CoRL
Shuo Cheng, Caelan Reed Garrett, Ajay Mandlekar, Danfei Xu
2024 J jnl
Open-World Task and Motion Planning via Vision-Language Model Inferred Constraints.
CoRR
Nishanth Kumar, Fabio Ramos, Dieter Fox, Caelan Reed Garrett
2024 Misc conf
SPIRE: Synergistic Planning, Imitation, and Reinforcement Learning for Long-Horizon Manipulation.
CoRL
Zihan Zhou, Animesh Garg, Dieter Fox, Caelan Reed Garrett, Ajay Mandlekar
2024 J jnl
SPIRE: Synergistic Planning, Imitation, and Reinforcement Learning for Long-Horizon Manipulation.
CoRR
Zihan Zhou, Animesh Garg, Dieter Fox, Caelan Reed Garrett, Ajay Mandlekar
2024 Misc conf
SkillMimicGen: Automated Demonstration Generation for Efficient Skill Learning and Deployment.
CoRL
Caelan Reed Garrett, Ajay Mandlekar, Bowen Wen, Dieter Fox
2024 J jnl
SkillMimicGen: Automated Demonstration Generation for Efficient Skill Learning and Deployment.
CoRR
Caelan Reed Garrett, Ajay Mandlekar, Bowen Wen, Dieter Fox
2023 J jnl
CuRobo: Parallelized Collision-Free Minimum-Jerk Robot Motion Generation.
CoRR
Balakumar Sundaralingam, Siva Kumar Sastry Hari, Adam Fishman, Caelan Reed Garrett, Karl Van Wyk, Valts Blukis, Alexander Millane, Helen Oleynikova, Ankur Handa, Fabio Ramos, Nathan D. Ratliff, Dieter Fox
2023 A* conf
CuRobo: Parallelized Collision-Free Robot Motion Generation.
ICRA
Balakumar Sundaralingam, Siva Kumar Sastry Hari, Adam Fishman, Caelan Reed Garrett, Karl Van Wyk, Valts Blukis, Alexander Millane, Helen Oleynikova, Ankur Handa, Fabio Ramos, Nathan D. Ratliff, Dieter Fox
2023 J jnl
DiMSam: Diffusion Models as Samplers for Task and Motion Planning under Partial Observability.
CoRR
Xiaolin Fang, Caelan Reed Garrett, Clemens Eppner, Tomás Lozano-Pérez, Leslie Pack Kaelbling, Dieter Fox
2023 Misc conf
Human-in-the-Loop Task and Motion Planning for Imitation Learning.
CoRL
Ajay Mandlekar, Caelan Reed Garrett, Danfei Xu, Dieter Fox
2023 J jnl
Human-in-the-Loop Task and Motion Planning for Imitation Learning.
CoRR
Ajay Mandlekar, Caelan Reed Garrett, Danfei Xu, Dieter Fox
2023 Misc conf
Imitating Task and Motion Planning with Visuomotor Transformers.
CoRL
Murtaza Dalal, Ajay Mandlekar, Caelan Reed Garrett, Ankur Handa, Ruslan Salakhutdinov, Dieter Fox
2023 J jnl
Imitating Task and Motion Planning with Visuomotor Transformers.
CoRR
Murtaza Dalal, Ajay Mandlekar, Caelan Reed Garrett, Ankur Handa, Ruslan Salakhutdinov, Dieter Fox
2023 J jnl
Meta-Policy Learning over Plan Ensembles for Robust Articulated Object Manipulation.
CoRR
Constantinos Chamzas, Caelan Reed Garrett, Balakumar Sundaralingam, Lydia E. Kavraki, Dieter Fox
2023 J jnl
NOD-TAMP: Multi-Step Manipulation Planning with Neural Object Descriptors.
CoRR
Shuo Cheng, Caelan Reed Garrett, Ajay Mandlekar, Danfei Xu
2023 — conf
Sequence-Based Plan Feasibility Prediction for Efficient Task and Motion Planning.
Robotics: Science and Systems
Zhutian Yang, Caelan Reed Garrett, Tomás Lozano-Pérez, Leslie Pack Kaelbling, Dieter Fox
2022 J jnl
Cooperative Task and Motion Planning for Multi-Arm Assembly Systems.
CoRR
Jingkai Chen, Jiaoyang Li, Yijiang Huang, Caelan Reed Garrett, Dawei Sun, Chuchu Fan, Andreas G. Hofmann, Caitlin Mueller, Sven Koenig, Brian C. Williams
2022 A* conf
Long-Horizon Manipulation of Unknown Objects via Task and Motion Planning with Estimated Affordances.
ICRA
Aidan Curtis, Xiaolin Fang, Leslie Pack Kaelbling, Tomás Lozano-Pérez, Caelan Reed Garrett
2022 J jnl
Sequence-Based Plan Feasibility Prediction for Efficient Task and Motion Planning.
CoRR
Zhutian Yang, Caelan Reed Garrett, Dieter Fox
2021 J jnl
Integrated Task and Motion Planning.
Annu. Rev. Control. Robotics Auton. Syst.
Caelan Reed Garrett, Rohan Chitnis, Rachel M. Holladay, Beomjoon Kim, Tom Silver, Leslie Pack Kaelbling, Tomás Lozano-Pérez
2021 J jnl
Learning compositional models of robot skills for task and motion planning.
Int. J. Robotics Res.
Zi Wang, Caelan Reed Garrett, Leslie Pack Kaelbling, Tomás Lozano-Pérez
2021 J jnl
Long-Horizon Manipulation of Unknown Objects via Task and Motion Planning with Estimated Affordances.
CoRR
Aidan Curtis, Xiaolin Fang, Leslie Pack Kaelbling, Tomás Lozano-Pérez, Caelan Reed Garrett
2021 J jnl
Robotic additive construction of bar structures: Unified sequence and motion planning.
CoRR
Yijiang Huang, Caelan Reed Garrett, Ian Ting, Stefana Parascho, Caitlin Mueller
2021 — —
Sampling-Based Robot Task and Motion Planning in the Real World.
Caelan Reed Garrett
2021 — conf
The new analog: A protocol for linking design and construction intent with algorithmic planning for robotic assembly of complex structures.
SCF
Yijiang Huang, Pok Yin Victor Leung, Caelan Reed Garrett, Fabio Gramazio, Matthias Kohler, Caitlin Mueller
2020 J jnl
Integrated Task and Motion Planning.
CoRR
Caelan Reed Garrett, Rohan Chitnis, Rachel M. Holladay, Beomjoon Kim, Tom Silver, Leslie Pack Kaelbling, Tomás Lozano-Pérez
2020 J jnl
Learning compositional models of robot skills for task and motion planning.
CoRR
Zi Wang, Caelan Reed Garrett, Leslie Pack Kaelbling, Tomás Lozano-Pérez
2020 A* conf
Online Replanning in Belief Space for Partially Observable Task and Motion Problems.
ICRA
Caelan Reed Garrett, Chris Paxton, Tomás Lozano-Pérez, Leslie Pack Kaelbling, Dieter Fox
2020 A* conf
PDDLStream: Integrating Symbolic Planners and Blackbox Samplers via Optimistic Adaptive Planning.
ICAPS
Caelan Reed Garrett, Tomás Lozano-Pérez, Leslie Pack Kaelbling
2020 — conf
Scalable and Probabilistically Complete Planning for Robotic Spatial Extrusion.
Robotics: Science and Systems
Caelan Reed Garrett, Yijiang Huang, Tomás Lozano-Pérez, Caitlin Mueller
2020 J jnl
Scalable and Probabilistically Complete Planning for Robotic Spatial Extrusion.
CoRR
Caelan Reed Garrett, Yijiang Huang, Tomás Lozano-Pérez, Caitlin Tobin Mueller
2019 J jnl
Online Replanning in Belief Space for Partially Observable Task and Motion Problems.
CoRR
Caelan Reed Garrett, Chris Paxton, Tomás Lozano-Pérez, Leslie Pack Kaelbling, Dieter Fox
2018 A conf
Active Model Learning and Diverse Action Sampling for Task and Motion Planning.
IROS
Zi Wang, Caelan Reed Garrett, Leslie Pack Kaelbling, Tomás Lozano-Pérez
2018 J jnl
Active model learning and diverse action sampling for task and motion planning.
CoRR
Zi Wang, Caelan Reed Garrett, Leslie Pack Kaelbling, Tomás Lozano-Pérez
2018 J jnl
Automated motion planning for robotic assembly of discrete architectural structures.
CoRR
Yijiang Huang, Caelan Reed Garrett, Caitlin Tobin Mueller
2018 J jnl
FFRob: Leveraging symbolic planning for efficient task and motion planning.
Int. J. Robotics Res.
Caelan Reed Garrett, Tomás Lozano-Pérez, Leslie Pack Kaelbling
2018 J jnl
Platform-Independent Benchmarks for Task and Motion Planning.
IEEE Robotics Autom. Lett.
Fabien Lagriffoul, Neil T. Dantam, Caelan Reed Garrett, Aliakbar Akbari, Siddharth Srivastava, Lydia E. Kavraki
2018 J jnl
STRIPStream: Integrating Symbolic Planners and Blackbox Samplers.
CoRR
Caelan Reed Garrett, Tomás Lozano-Pérez, Leslie Pack Kaelbling
2018 J jnl
Sampling-Based Methods for Factored Task and Motion Planning.
CoRR
Caelan Reed Garrett, Tomás Lozano-Pérez, Leslie Pack Kaelbling
2018 J jnl
Sampling-based methods for factored task and motion planning.
Int. J. Robotics Res.
Caelan Reed Garrett, Tomás Lozano-Pérez, Leslie Pack Kaelbling
2017 J jnl
STRIPS Planning in Infinite Domains.
CoRR
Caelan Reed Garrett, Tomás Lozano-Pérez, Leslie Pack Kaelbling
2017 — conf
Sample-Based Methods for Factored Task and Motion Planning.
Robotics: Science and Systems
Caelan Reed Garrett, Tomás Lozano-Pérez, Leslie Pack Kaelbling
2016 J jnl
Backward-Forward Search for Manipulation Planning.
CoRR
Caelan Reed Garrett, Tomás Lozano-Pérez, Leslie Pack Kaelbling
2016 J jnl
FFRob: Leveraging Symbolic Planning for Efficient Task and Motion Planning.
CoRR
Caelan Reed Garrett, Tomás Lozano-Pérez, Leslie Pack Kaelbling
2016 A conf
Humanoid manipulation planning using backward-forward search.
IROS
Michael X. Grey, Caelan Reed Garrett, C. Karen Liu, Aaron D. Ames, Andrea Lockerd Thomaz
2016 A* conf
Learning to Rank for Synthesizing Planning Heuristics.
IJCAI
Caelan Reed Garrett, Leslie Pack Kaelbling, Tomás Lozano-Pérez
2016 J jnl
Learning to Rank for Synthesizing Planning Heuristics.
CoRR
Caelan Reed Garrett, Leslie Pack Kaelbling, Tomás Lozano-Pérez
2015 A conf
Backward-forward search for manipulation planning.
IROS
Caelan Reed Garrett, Tomás Lozano-Pérez, Leslie Pack Kaelbling
2014 C conf
FFRob: An Efficient Heuristic for Task and Motion Planning.
WAFR
Caelan Reed Garrett, Tomás Lozano-Pérez, Leslie Pack Kaelbling