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cs.RO2026
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…
cs.RO2025
Obstacle Avoidance using Dynamic Movement Primitives and Reinforcement Learning
Dominik Urbaniak, Alejandro Agostini, Pol Ramon +3
Learning-based motion planning can quickly generate near-optimal trajectories. However, it often requires either large training datasets or costly collection of human demonstration…