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cs.RO2026
REAP: Learning General Rearrangement Heuristics from Motion-Planner Feedback
Daniel Swoboda, Hector Geffner
Robotic rearrangement tasks require planning sequences of actions that fulfill high-level specifications while also being geometrically feasible. Symbolic abstractions make the com…
cs.RO2024
Combined Task and Motion Planning Via Sketch Decompositions (Extended Version with Supplementary Material)
Magí Dalmau-Moreno, Néstor García, Vicenç Gómez +1
The challenge in combined task and motion planning (TAMP) is the effective integration of a search over a combinatorial space, usually carried out by a task planner, and a search o…