Author

Rachel Holladay

MIT

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Preprint Oct 2026

I Won't Know Until I Try: Interactive Information Gathering for Long-Horizon Manipulation

Long-horizon manipulation often depends on object properties that cannot be reliably inferred from appearance alone. Physical interaction can reveal these properties, but it can also change the world in ways that invalidate subsequent actions. We present a task and motion planning (TAMP) framework that integrates task-...

Lin-Fei Yuan, Rachel Holladay · 0 citations

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