arxivcs.RO2026-07-22
LENS: LLM-guided Environment Simplification for Planning and Control in Clutter
Aileen Liao, Rachel Holladay, Dinesh Jayaraman, Michael Posa
Despite recent advances in general-purpose robotic manipulation, real-world multi-object clutter remains challenging to handle for today's prevalent approaches. The problem scales in complexity due to more objects and collisions, more unpredictable contact physics, distractors, a…