2 papers
cs.RO2024
Anticipatory Task and Motion Planning
Roshan Dhakal, Duc M. Nguyen, Tom Silver +2
We consider a sequential task and motion planning (tamp) setting in which a robot is assigned continuous-space rearrangement-style tasks one-at-a-time in an environment that persis…
cs.RO2023
Anticipatory Planning: Improving Long-Lived Planning by Estimating Expected Cost of Future Tasks
Roshan Dhakal, Md Ridwan Hossain Talukder, Gregory J. Stein
We consider a service robot in a household environment given a sequence of high-level tasks one at a time. Most existing task planners, lacking knowledge of what they may be asked…