Author

Aileen Liao

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Jul 2026

LENS: LLM-guided Environment Simplification for Planning and Control in Clutter

This work proposes a plug-and-play fix to automatically generate scene-specific, task-specific, adaptively updating abstractions on top of existing planning and control stacks, and shows that LENS improves classical planning, model-based control, and a vision-language-action model, across a diverse set of highly clutte...

Aileen Liao, Rachel Holladay, Dinesh Jayaraman et al. · arXiv.org · 0 citations