2 papers
cs.RO2026
Leveraging Inter-object Affordances for Efficient Planning in Contact-rich Tasks
Pouya P. Niaz, Justus Piater, Alejandro Agostini
Traditional task-and-motion planning (TAMP) approaches primarily focus on defining sequences of actions along with the necessary geometric and kinematic constraints to execute long…
cs.RO2023
Unified Task and Motion Planning using Object-centric Abstractions of Motion Constraints
Alejandro Agostini, Justus Piater
In task and motion planning (TAMP), the ambiguity and underdetermination of abstract descriptions used by task planning methods make it difficult to characterize physical constrain…