389 citations · 2.9k across the 113 of their papers we have counts for
5 papers · 1 filter
Learning to Rank for Synthesizing Planning Heuristics
Caelan Reed Garrett, Leslie Pack Kaelbling, Tomas Lozano-Perez
We investigate learning heuristics for domain-specific planning. Prior work framed learning a heuristic as an ordinary regression problem. However, in a greedy best-first search, t…
FFRob: Leveraging Symbolic Planning for Efficient Task and Motion Planning
Caelan Reed Garrett, Tomas Lozano-Perez, Leslie Pack Kaelbling
Mobile manipulation problems involving many objects are challenging to solve due to the high dimensionality and multi-modality of their hybrid configuration spaces. Planners that p…
Focused Model-Learning and Planning for Non-Gaussian Continuous State-Action Systems
Zi Wang, Stefanie Jegelka, Leslie Pack Kaelbling +1
We introduce a framework for model learning and planning in stochastic domains with continuous state and action spaces and non-Gaussian transition models. It is efficient because (…
Backward-Forward Search for Manipulation Planning
Caelan Reed Garrett, Tomas Lozano-Perez, Leslie Pack Kaelbling
In this paper we address planning problems in high-dimensional hybrid configuration spaces, with a particular focus on manipulation planning problems involving many objects. We pre…
Bayesian Optimization with Exponential Convergence
Kenji Kawaguchi, Leslie Pack Kaelbling, Tomás Lozano-Pérez
This paper presents a Bayesian optimization method with exponential convergence without the need of auxiliary optimization and without the delta-cover sampling. Most Bayesian optim…