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Ankit Kanwar

dblp:425/2255 · DBLP profile ↗
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1ranked-venue papers
1as first author
1since 2021 · last 2026
—ORCID · none

Domains — the database's venue-derived domains; a paper can count in several

Artificial intelligence and machine learning · 1 · 1 first-author · 1 since 2021Graphics, computer vision, multimedia, augmented reality and games · 1 · 1 first-author · 1 since 2021

Expertise — from the expertise taxonomy: the topics of the expert's papers under the CCF categories. A weight counts papers with recency: 1 for a paper about the topic, 0.3 when the topic is its context, halved every five years.

Artificial intelligence
1 paper
Motion planning and robot control · 61% Robot manipulation · 30% Planning, search and constraint satisfaction · 9%

Topics — the 3 heaviest of 4, each with the papers that count most for it

TopicWeightPapersLastEvidence papers
Robotics › Motion planning and robot control › motion planning
physics-based planning
1.012026
PhyPlan: Learning to Plan Tasks with Generalizable and Rapid Physical Reasoning for Embodied Manipulation · AAAI 2026
Robotics › Motion planning and robot control
robot learning
1.012026
PhyPlan: Learning to Plan Tasks with Generalizable and Rapid Physical Reasoning for Embodied Manipulation · AAAI 2026
Knowledge, reasoning and agents › Planning, search and constraint satisfaction › game tree search
monte carlo tree search
0.312026
PhyPlan: Learning to Plan Tasks with Generalizable and Rapid Physical Reasoning for Embodied Manipulation · AAAI 2026

Methods — techniques the papers use, named apart from their topics

physics-informed dynamics prediction · 1.0monte carlo tree search · 1.0generative flow networks · 1.0gaussian process regression · 1.0
YearPublicationVenuePosition
2026 PhyPlan: Learning to Plan Tasks with Generalizable and Rapid Physical Reasoning for Embodied Manipulation
abstract
Given the task of landing a ball in a goal region beyond direct reach, humans can often throw, slide, or rebound objects against the wall to attain the goal. Enabling robots to replicate such reasoning is non-trivial as it requires multi-step planning and involves a mixture of discrete and continuous action spaces, a sparse and sensitive reward structure, computationally expensive simulations, and an incomplete understanding of the environment's physics. We present PhyPlan, a physics-informed and adaptable planning framework for efficient multi-step physical reasoning. At its core, PhyPlan comprises of Generative Flow Networks (GFlowNets) and Monte Carlo Tree Search (MCTS) to explore and evaluate sequences of object interactions. GFlowNets sample discrete action sequences in proportion to their associated reward, enabling broad and reward-driven exploration of the discrete planning space. MCTS complements this by adaptively balancing the use of a fast but approximate pre-trained physics-informed dynamics predictor and costly but accurate environment rollouts, ensuring both speed and precision in planning. The known and actual physics discrepancy is captured using Gaussian Process Regression. Experiments on benchmark simulated tasks requiring composition of collisions, slides, and rebounds demonstrate that PhyPlan achieves a 45\% higher success rate and up to 3× efficiency gains over state-of-the-art model-based reinforcement learning approaches.
Ankit Kanwar, Hartej Soin, Abhinav Barnawal, Mudit Chopra, Harshil Vagadia, Tamajit Banerjee, Shreshth Tuli, Rohan Paul, Souvik Chakraborty
AAAI1