24 citations · 38 across the 3 of their papers we have counts for
3 papers
Policy-Guided Lazy Search with Feedback for Task and Motion Planning
Mohamed Khodeir, Atharv Sonwane, Ruthrash Hari +1
PDDLStream solvers have recently emerged as viable solutions for Task and Motion Planning (TAMP) problems, extending PDDL to problems with continuous action spaces. Prior work has…
TASKOGRAPHY: Evaluating robot task planning over large 3D scene graphs
Christopher Agia, Krishna Murthy Jatavallabhula, Mohamed Khodeir +5
3D scene graphs (3DSGs) are an emerging description; unifying symbolic, topological, and metric scene representations. However, typical 3DSGs contain hundreds of objects and symbol…
Learning to Search in Task and Motion Planning with Streams
Mohamed Khodeir, Ben Agro, Florian Shkurti
Task and motion planning problems in robotics combine symbolic planning over discrete task variables with motion optimization over continuous state and action variables. Recent wor…