I am a Senior Research Scientist at NVIDIA Research's Seattle Research Lab (SRL), which is led by Professor Dieter Fox.
I was a PhD student in the Learning and Intelligent Systems Group (LIS) within MIT's Computer Science & Artificial Intelligence Lab (CSAIL).
My advisors were Professors Tomás Lozano-Pérez and Leslie Pack Kaelbling.
I primarily research Task and Motion Planning (TAMP): the intersection of Classical Planning from Artificial Intelligence and Motion Planning from Robotics.
NVIDIA Research is hiring PhD Research Interns for 2025. Apply at: [Workday]
Doctor of Philosophy in EECS - MIT (2015 - 2021)
Thesis: Sampling-Based Task and Motion Planning for Robots in the Real World. [paper]
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.
Conference Publications
SkillGen: Automated Demonstration Generation for Efficient Skill Learning and Deployment. Caelan Garrett*, Ajay Mandlekar*, Bowen Wen, Dieter Fox. Conference on Robot Learning (CoRL), 2024. [website]
SPIRE: Synergistic Planning, Imitation, and Reinforcement Learning for Long-Horizon Manipulation. Zihan Zhou, Animesh Garg, Dieter Fox, Caelan Garrett*, Ajay Mandlekar*. Conference on Robot Learning (CoRL), 2024. [website]
DiMSam: Diffusion Models as Samplers for Task and Motion Planning under Partial Observability. Xiaolin Fang, Caelan Reed Garrett, Clemens Eppner, Tomás Lozano-Pérez, Leslie Pack Kaelbling, Dieter Fox. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024. Best Conference Paper Finalist, Best Student Paper Finalist. [arXiv]
Interventional Data Generation for Robust and Data-Efficient Robot Imitation Learning. Ryan Hoque, Ajay Mandlekar*, Caelan Garrett*, Ken Goldberg, Dieter Fox. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024. [website]
Human-In-The-Loop Task and Motion Planning for Imitation Learning. Ajay Mandlekar*, Caelan Garrett*, Danfei Xu, Dieter Fox. Conference on Robot Learning (CoRL), 2023. [website]
Imitating Task and Motion Planning with Visuomotor Transformers. Murtaza Dalal, Ajay Mandlekar*, Caelan Garrett*, Ankur Handa, Ruslan Salakhutdinov, Dieter Fox. Conference on Robot Learning (CoRL), 2023. [website]
Sequence-Based Plan Feasibility Prediction for Efficient Task and Motion Planning. Zhutian Yang, Caelan Garrett, Tomás Lozano-Pérez, Leslie Pack Kaelbling, Dieter Fox. Robotics: Science and Systems (RSS), 2023. [website]
CuRobo: Parallelized Collision-Free Robot Motion Generation. Balakumar Sundaralingam, Siva Kumar Sastry Hari, Adam Fishman, Caelan Reed Garrett, Karl Van Wyk, Valts Blukis, Alexander Millane, Helen Oleynikova, Ankur Handa, Fabio Ramos, Nathan Ratliff, Dieter Fox. IEEE International Conference on Robotics and Automation (ICRA), 2023. [IEEE][arXiv]
Long-Horizon Manipulation of Unknown Objects via Task and Motion Planning with Estimated Affordances. Aidan Curtis*, Xiaolin Fang*, Leslie Pack Kaelbling, Tomás Lozano-Pérez, Caelan Reed Garrett. IEEE International Conference on Robotics and Automation (ICRA), 2022. [arXiv]
The new analog: A protocol for linking design and construction intent with algorithmic planning for robotic assembly of complex structures. Yijiang Huang, Pok Yin Victor Leung, Caelan Garrett, Fabio Gramazio, Matthias Kohler, Caitlin Mueller. ACM Symposium on Computational Fabrication, 2021. [website]
PDDLStream: Integrating Symbolic Planners and Blackbox Samplers via Optimistic Adaptive Planning. Caelan Reed Garrett, Tomás Lozano-Pérez, Leslie Pack Kaelbling. International Conference on Automated Planning and Scheduling (ICAPS), 2020. [arXiv]
Online Replanning in Belief Space for Partially Observable Task and Motion Problems. Caelan Reed Garrett, Chris Paxton, Tomás Lozano-Pérez, Leslie Pack Kaelbling, Dieter Fox. IEEE International Conference on Robotics and Automation (ICRA), 2020. [arXiv]
Scalable and Probabilistically Complete Planning for Robotic Spatial Extrusion. Caelan Reed Garrett*, Yijiang Huang*, Tomás Lozano-Pérez, Caitlin T. Mueller. Robotics: Science and Systems (RSS), 2020. [arXiv][RSS]
Active model learning and diverse action sampling for task and motion planning. Zi Wang, Caelan Reed Garrett, Leslie Pack Kaelbling, Tomás Lozano-Pérez. International Conference on Intelligent Robots and Systems (IROS), 2018. [arXiv]
Sample-Based Methods for Factored Task and Motion Planning. Caelan Reed Garrett, Tomás Lozano-Pérez, Leslie Pack Kaelbling. Robotics: Science and Systems (RSS), 2017. [paper][RSS]
Humanoid Manipulation Planning using Backward-Forward Search. Michael X. Grey, Caelan Reed Garrett, C. Karen Liu, Aaron D. Ames, and Andrea L. Thomaz. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016. [paper]
Learning to Rank for Synthesizing Planning Heuristics. Caelan Reed Garrett, Tomás Lozano-Pérez, Leslie Pack Kaelbling. International Joint Conference on Artificial Intelligence (IJCAI), 2016. [arXiv]
Backward-Forward Search for Manipulation Planning. Caelan Reed Garrett, Tomás Lozano-Pérez, Leslie Pack Kaelbling. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015. [paper][arXiv]
FFRob: An Efficient Heuristic for Task and Motion Planning. Caelan Reed Garrett, Tomás Lozano-Pérez, Leslie Pack Kaelbling. International Workshop on the Algorithmic Foundations of Robotics (WAFR), 2014. [paper][Springer]
Image Processing for Human Understanding in Low-visibility. Mark A. Livingston, Caelan Reed Garrett, Zhuming Ai. ASNE Human Systems Integration Symposium, 2011. [paper]
Journal Publications
Constructability-driven design of frame structures with state-space search methods. Yijiang Huang, Caelan Garrett, Caitlin Mueller. Automation in Construction, 2024.
[ScienceDirect]
Integrated Task and Motion Planning. Caelan Reed Garrett, Rohan Chitnis, Rachel Holladay, Beomjoon Kim, Tom Silver, Leslie Pack Kaelbling, Tomás Lozano-Pérez. Annual Review of Control, Robotics, and Autonomous Systems, 2021.
[arXiv][e-print][doi]
Robotic additive construction of bar structures: Unified sequence and motion planning. Yijiang Huang, Caelan Garrett, Ian Ting, Stefana Parascho, Caitlin Mueller. Construction Robotics, 2021.
[arXiv]
Learning compositional models of robot skills for task and motion planning. Zi Wang*, Caelan Reed Garrett*, Leslie Pack Kaelbling, Tomás Lozano-Pérez. The International Journal of Robotics Research (IJRR), 2020.
[arXiv][doi]
Automated sequence and motion planning for robotic spatial extrusion of 3D trusses. Yijiang Huang, Caelan Reed Garrett, Caitlin T. Mueller. Construction Robotics, 2018.
[arXiv][doi]
Sampling-Based Methods for Factored Task and Motion Planning. Caelan Reed Garrett, Tomás Lozano-Pérez, Leslie Pack Kaelbling. The International Journal of Robotics Research (IJRR), 2018.
[arXiv][doi]
Platform-Independent Benchmarks for Task and Motion Planning. Fabien Lagriffoul, Neil T Dantam, Caelan Garrett, Aliakbar Akbari, Siddharth Srivastava, Lydia E Kavraki. IEEE Robotics and Automation Letters (RA-L), 2018. [paper]
FFRob: Leveraging Symbolic Planning for Efficient Task and Motion Planning. Caelan Reed Garrett, Tomás Lozano-Pérez, Leslie Pack Kaelbling. The International Journal of Robotics Research (IJRR), 2017.
[arXiv][doi]
Workshop Publications
Open-World Task and Motion Planning via Vision-Language Model Inferred Constraints. Nishanth Kumar, Fabio Ramos, Dieter Fox, Caelan Garrett. CoRL 2024 Workshop on Language and Robot Learning Language as an Interface, 2024. [OpenReview]
Differentiable GPU-Parallelized Task and Motion Planning. William Shen, Caelan Garrett., Ankit Goyal, Tucker Hermans, Fabio Ramos. CoRL 2024 Workshop on Differentiable Optimization, 2024. [OpenReview]
Meta-Policy Learning over Plan Ensembles for Robust Articulated Object Manipulation. Constantinos Chamzas, Caelan Garrett, Balakumar Sundaralingam, Lydia Kavraki, Dieter Fox. RSS 2023 Workshop on Learning for Task and Motion Planning, 2023. [OpenReview]
Scalable Planning for Robotic Spatial Extrusion. Caelan Reed Garrett*, Yijiang Huang*, Tomás Lozano-Pérez, Caitlin T. Mueller. IROS Workshop on Building Construction and Architecture Robotics, 2020.
STRIPS Planning in Infinite Domains. Caelan Reed Garrett, Tomás Lozano-Pérez, Leslie Pack Kaelbling. RSS Workshop on Task and Motion Planning, 2017. [paper]
STRIPS Planning in Infinite Domains. Caelan Reed Garrett, Tomás Lozano-Pérez, Leslie Pack Kaelbling. ICAPS Workshop on Planning and Robotics (PlanRob), 2017. [arXiv]
STRIPS Planning in Infinite Domains. Caelan Reed Garrett, Tomás Lozano-Pérez, Leslie Pack Kaelbling. ICRA Workshop on AI Planning and Robotics, 2017. [paper]
Humanoid Task and Motion Planning using Backward-Forward Search. Caelan Reed Garrett, Michael X. Grey, C. Karen Liu, Aaron D. Ames, Andrea L. Thomaz. RSS Workshop on Task and Motion Planning, 2016. [paper][video]
Heuristic Search for Task and Motion Planning. Caelan Reed Garrett, Tomás Lozano-Pérez, Leslie Pack Kaelbling. ICAPS Workshop on Planning and Robotics (PlanRob), 2014. [paper]
System and Method of Image Processing Perceptual Visibility of Imagery. Mark A. Livingston and Caelan Reed Garrett. The United States of America, as Represented by the Secretary of the Navy (Washington, DC), assignee. Patent 8,705,857. 04 Apr. 2014. [link]
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
News
Replanning for Success, Lauren Finkle, NVIDIA Blog, May 2020. [link]
Presentations
Modularity and Compositionality in Multi-Step Robot Manipulation, DRL Institute of Robotics and Mechatronics, May 2021.
Modularity and Compositionality in Multi-Step Robot Manipulation, Autonomous Agents and Intelligent Robots Lab at Arizona State University, February 2021.
Lazy Belief-Space Task and Motion Planning for Robots Acting in Partially Observable Environments, Learning & Intelligent Systems Lab at TU Berlin, June 2020.
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)
