Matteo Iovino

Combining Planning and Learning of Behavior Trees for Robotic Assembly

2022 · 2022 International Conference on Robotics and Automation (ICRA)

Industrial robots can solve tasks in controlled environments, but modern applications require robots able to operate also in unpredictable surroundings. An increasingly popular reactive policy architecture in robotics is Behavior Trees (BTs) but as other …

Automatic Behavior Tree Expansion with LLMs for Robotic Manipulation

2024 · arXiv (Cornell University)

Robotic systems for manipulation tasks are increasingly expected to be easy to configure for new tasks or unpredictable environments, while keeping a transparent policy that is readable and verifiable by humans. We propose the method …