Real-World Demonstration
(All robot videos are 1x
speed)
Below are additional real world examples of LIMP generating task and motion plans to follow expressive instructions with complex spatiotemporal constraints. Each demonstration has two videos, the top video visualizes instruction translation, referent grounding, task progression semantic maps and computed motion plans for each example. The bottom video shows a robot executing the generated plan in the real world. Please see our paper for more details on our approach.