Caelan Garrett

PhD Student
Learning and Intelligent Systems Group
MIT CSAIL
Office 32-331B
[first-name]@csail.mit.edu


Research

I am a PhD student in the Learning and Intelligent Systems Group (LIS) within MIT's Computer Science & Artificial Intelligence Lab (CSAIL). I am advised by Professors Tomás Lozano-Pérez and Leslie Pack Kaelbling. I research Task and Motion Planning (TAMP): the intersection of Classical Planning from Artificial Intelligence and Motion Planning from Robotics. My goal is to develop fast algorithms for planning in high dimensional, continuous spaces that can be applied to autonomous systems to perform human-like tasks such as cleaning a room or cooking a meal.


Project Websites


Education

  • Doctor of Philosophy in EECS - MIT (2015 - present)
    Thesis: TBD
  • Master of Engineering in EECS - MIT (2014 - 2015)
    Thesis: Heuristic Search for Manipulation Planning. [paper]
  • Bachelor of EECS and Bachelor of Mathematics - MIT (2011 - 2015)
    Thesis: FFRob: An efficient heuristic for task and motion planning. [paper]
  • Advanced High School Diploma - Thomas Jefferson High School for Science and Technology (2007 - 2011) Thesis: An Image Processing Algorithm for Enhancing Perceptual Visibility of Imagery

Preprints

  • Zi Wang*, Caelan Reed Garrett*, Leslie Pack Kaelbling, Tomás Lozano-Pérez. Learning compositional models of robot skills for task and motion planning, 2020. [arXiv]

Journal Publications

  • Caelan Reed Garrett, Rohan Chitnis, Rachel Holladay, Beomjoon Kim, Tom Silver, Leslie Pack Kaelbling, Tomás Lozano-Pérez. Integrated Task and Motion Planning, Annual Review of Control, Robotics, and Autonomous Systems, 2021. [arXiv]
  • Yijiang Huang, Caelan R. Garrett, Caitlin T. Mueller. Automated sequence and motion planning for robotic spatial extrusion of 3D trusses, Construction Robotics, 2018. [arXiv] [doi]
  • Caelan R. Garrett, Tomás Lozano-Pérez, Leslie P. Kaelbling. Sampling-Based Methods for Factored Task and Motion Planning, The International Journal of Robotics Research (IJRR), 2018. [arXiv] [doi]
  • Caelan R. Garrett, Tomás Lozano-Pérez, Leslie P. Kaelbling. FFRob: Leveraging Symbolic Planning for Efficient Task and Motion Planning, The International Journal of Robotics Research (IJRR), 2017. [arXiv] [doi]

Conference Publications

  • Caelan R. Garrett*, Yijiang Huang*, Tomás Lozano-Pérez, Caitlin T. Mueller. Scalable and Probabilistically Complete Planning for Robotic Spatial Extrusion, Robotics: Science and Systems (RSS), 2020. [arXiv] [RSS]
  • Caelan R. Garrett, Chris Paxton, Tomás Lozano-Pérez, Leslie P. Kaelbling, Dieter Fox. Online Replanning in Belief Space for Partially Observable Task and Motion Problems, IEEE International Conference on Robotics and Automation (ICRA), 2020. [arXiv]
  • Caelan R. Garrett, Tomás Lozano-Pérez, Leslie P. Kaelbling. PDDLStream: Integrating Symbolic Planners and Blackbox Samplers via Optimistic Adaptive Planning, International Conference on Automated Planning and Scheduling (ICAPS), 2020. [arXiv]
  • Fabien Lagriffoul, Neil T Dantam, Caelan Garrett, Aliakbar Akbari, Siddharth Srivastava, Lydia E Kavraki. Platform-Independent Benchmarks for Task and Motion Planning IEEE Robotics and Automation Letters (RA-L), 2018. [paper]
  • Zi Wang, Caelan R. Garrett, Leslie P. Kaelbling, Tomás Lozano-Pérez. Active model learning and diverse action sampling for task and motion planning, International Conference on Intelligent Robots and Systems (IROS), 2018. [arXiv]
  • Caelan R. Garrett, Tomás Lozano-Pérez, Leslie P. Kaelbling. Sample-Based Methods for Factored Task and Motion Planning, Robotics: Science and Systems (RSS), 2017. [paper] [RSS]
  • Michael X. Grey, Caelan R. Garrett, C. Karen Liu, Aaron D. Ames, and Andrea L. Thomaz. Humanoid Manipulation Planning using Backward-Forward Search, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016. [paper]
  • Caelan R. Garrett, Tomás Lozano-Pérez, Leslie P. Kaelbling. Learning to Rank for Synthesizing Planning Heuristics (Ordinal Regression for Learning Planning Heuristics), International Joint Conference on Artificial Intelligence (IJCAI), 2016. [arXiv]
  • Caelan R. Garrett, Tomás Lozano-Pérez, Leslie P. Kaelbling. Backward-Forward Search for Manipulation Planning, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015. [paper] [arXiv]
  • Caelan R. Garrett, Tomás Lozano-Pérez, Leslie P. Kaelbling. FFRob: An Efficient Heuristic for Task and Motion Planning, International Workshop on the Algorithmic Foundations of Robotics (WAFR), 2014. [paper] [Springer]
  • Mark A. Livingston, Caelan R. Garrett, Zhuming Ai. Image Processing for Human Understanding in Low-visibility, ASNE Human Systems Integration Symposium, 2011. [paper]

Workshop Publications

  • Caelan R. Garrett*, Yijiang Huang*, Tomás Lozano-Pérez, Caitlin T. Mueller. Scalable Planning for Robotic Spatial Extrusion, IROS Workshop on Building Construction and Architecture Robotics, 2020.
  • Caelan R. Garrett, Tomás Lozano-Pérez, Leslie P. Kaelbling. STRIPS Planning in Infinite Domains, RSS Workshop on Task and Motion Planning, 2017. [paper]
  • Caelan R. Garrett, Tomás Lozano-Pérez, Leslie P. Kaelbling. STRIPS Planning in Infinite Domains, ICAPS Workshop on Planning and Robotics (PlanRob), 2017. [arXiv]
  • Caelan R. Garrett, Tomás Lozano-Pérez, Leslie P. Kaelbling. STRIPS Planning in Infinite Domains, ICRA Workshop on AI Planning and Robotics, 2017. [paper]
  • Caelan R. Garrett, Michael X. Grey, C. Karen Liu, Aaron D. Ames, Andrea L. Thomaz. Humanoid Task and Motion Planning using Backward-Forward Search, RSS Workshop on Task and Motion Planning, 2016. [paper] [video]
  • Caelan R. Garrett, Tomás Lozano-Pérez, Leslie P. Kaelbling. Heuristic Search for Task and Motion Planning, ICAPS Workshop on Planning and Robotics (PlanRob), 2014. [paper]

Other "Publications"

  • Caelan R. Garrett, Clement Gehring, Gustavo Goretkin, Zelda Mariet, Zi Wang*. Motion Planning using Naturally Annoying Grammars (NAGs), SIGTBD, 2016. [paper]

Patents

  • Livingston, Mark A., and Caelan R. Garrett. System and Method of Image Processing Perceptual Visibility of Imagery. The United States of America, as Represented by the Secretary of the Navy (Washington, DC), assignee. Patent 8,705,857. 04 Apr. 2014. [link]

News

  • Replanning for Success, Lauren Finkle, NVIDIA Blog, May 2020. [link]

Presentations

  • Lazy Belief-Space Task and Motion Planning for Robots Acting in Partially Observable Environments, University of Washington Robotics Colloquium, Seattle, WA, January 2020. [slides] [video]
  • Task and Motion Planning, MIT Intelligent Robot Manipulation (6.881), Boston, MA, November 2019. [slides]
  • Task and Motion Planning, NVIDIA Seattle Research Lab, Seattle, WA, August 2019. [slides]
  • Task and Motion Planning, 3rd Summer School on Cognitive Robotics, Los Angeles, CA, July 2019. [slides] [video]
  • Robot Task and Motion Planning using Domain-Independent Algorithms, University of New Hampshire's Robotics Seminar, Durham, NH, April 2019. [slides]
  • Task and Motion Planning, MIT Intelligent Robot Manipulation (6.881), Boston, MA, November 2018. [slides]
  • Sampling-Based Methods for Factored Task and Motion Planning, MIT Research Qualifying Exam (RQE), Boston, MA, May 2018. [slides]
  • STRIPS Planning in Infinite Domains, RSS Workshop on Task and Motion Planning, Boston, MA, July 2017. [poster]
  • Sample-Based Methods for Factored Task and Motion Planning, Robotics: Science and Systems (RSS), Boston, MA, July 2017. [slides] [poster]
  • STRIPS Planning in Infinite Domains, ICAPS Workshop on Planning and Robotics (PlanRob), Singapore, May 2017. [slides]
  • Learning to Rank for Synthesizing Planning Heuristics, International Joint Conference on Artificial Intelligence, New York, NY, July 2016. [slides] [poster]
  • Humanoid Task and Motion Planning Using Backward Forwards Search, RSS Workshop on Task and Motion Planning, Ann Arbor, Michigan, June 2016. [poster]
  • Backward-Forward Search for Manipulation Planning, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, October 2015. [slides]
  • Heuristic Search for Fast Robotic Manipulation Planning, MIT Corporation Partners Robotics@MIT Event, Boston, MA, Dec. 2014. [slides]
  • Heuristic Search for Fast Robotic Manipulation Planning, MIT EECS Department Presentation, Boston, MA, Oct. 2014. [slides]
  • FFRob: An efficient heuristic for task and motion planning. International Workshop on the Algorithmic Foundations of Robotics (WAFR), Istanbul, Turkey, Aug. 2014. [slides] [poster]
  • Heuristic Search for Task and Motion Planning. ICAPS Workshop on Planning and Robotics, Portsmouth, NH, Jun. 2014. [slides] [poster]
  • Heuristic Search for Task and Motion Planning. MIT EECScon, Boston, MA, Apr. 2014. [poster]
  • Constraint Based Methods for Integrated Task and Motion Planning. MIT SuperUROP Conference. Boston, MA, Dec. 2014. [poster]
  • A Data Structure for Rapidly Testing Reachability for Robotic Motion Planning. MIT EECScon, Boston, MA, Apr. 2013. [poster]
  • An Image Processing System for Enhancing Perceptual Visibility of Imagery. Siemens Competition National Finals, Washington DC, Dec. 2010.

Teaching

  • MIT Intelligent Robot Manipulation (6.881) - Guest Lecturer (Fall 2018, Fall 2019)
  • 3rd Summer School on Cognitive Robotics (Task and Motion Planning) - Invited Lecturer (July 2019)
  • MIT Introduction to EECS (6.01) - Teaching Assistant (Spring 2015)
  • MIT Introduction to Algorithms (6.006) - Tutor (Fall 2013 - Fall 2014)
  • TJHSST Introduction to Computer Science - Teaching Assistant (Summer 2009)

Internships

  • NVIDIA Seattle Robotics Research Lab (2019) - Robotics Research Intern
  • AmazonRobotics (2018) - Planning and Scheduling Research Intern
  • Optimus Ride (2017) - Computer Vision and Perception
  • Google (2014) - AdQuality
  • Twitter (2013) - Revenue Analytics
  • Lockheed Martin (2012) - Simulation, Training, and Support Internal Research Lab
  • Naval Research Laboratory (2010) - Information Technology Division

Awards


Websites


Pups

  • I have two Siberian Husky mixes: Rey and Niko. They are insane.

Other

  • I sang in and was president of the MIT Chorallaries, MIT's first coed a cappella group.