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cs.RO2024
Interpretable Responsibility Sharing as a Heuristic for Task and Motion Planning
Arda Sarp Yenicesu, Sepehr Nourmohammadi, Berk Cicek +1
This article introduces a novel heuristic for Task and Motion Planning (TAMP) named Interpretable Responsibility Sharing (IRS), which enhances planning efficiency in domestic robot…
cs.RO2024
H-MaP: An Iterative and Hybrid Sequential Manipulation Planner
Berk Cicek, Arda Sarp Yenicesu, Cankut Bora Tuncer +2
This paper introduces H-MaP, a hybrid sequential manipulation planner that addresses complex tasks requiring both sequential actions and dynamic contact mode switches. Our approach…