Author

Dinesh Jayaraman

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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

Points2Reward: Robotic Manipulation Rewards from Just One Video

P2R tracks task-relevant object points in task demonstrations and policy rollouts, and matches them to compare the desired and achieved object trajectories to generate reward scores, which effectively computes dense rewards from a single video.

Junyao Shi, Joshua Smith, Jia-Ning Qian et al. · 6 citations