Jeannette Bohg

Combining learned and analytical models for predicting action effects.

2017 · arXiv (Cornell University)

One of the most basic skills a robot should possess is predicting the effect of physical interactions with objects in the environment. This enables optimal action selection to reach a certain goal state. Traditionally, these …

Text2Motion: From Natural Language Instructions to Feasible Plans

2023 · arXiv (Cornell University)

We propose Text2Motion, a language-based planning framework enabling robots to solve sequential manipulation tasks that require long-horizon reasoning. Given a natural language instruction, our framework constructs both a task- and motion-level plan that is verified …