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  5. Instruction-Augmented Long-Horizon Planning: Embedding Grounding Mechanisms in Embodied Mobile Manipulation

Instruction-Augmented Long-Horizon Planning: Embedding Grounding Mechanisms in Embodied Mobile Manipulation

 

Prof David 101 fit01

Instruction-augmented long-horizon planning for embodied mobile manipulation tasks:

i. Extract key information from the environment.
ii. Construct PDDL problem.
iii. Generate actions and execute.
 

Prof David 101 fit02

Instruction: Take the book from the black table and put it on the bookshelf.

  1. Move to the black table
  2. Scan the table
  3. Grasp the book
  4. Move to the bookshelf
  5. Scan the bookshelf
  6. Insert the book into the bookshelf

 

Related Publication:

Wang, F., Lyu, S., Zhou, P., Duan, A., Guo, G., & Navarro-Alarcon, D. (2025). Instruction-augmented long-horizon planning: Embedding grounding mechanisms in embodied mobile manipulation. AAAI.

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