27 citations · 36 across the 3 of their papers we have counts for
4 papers · 1 filter
Representation, learning, and planning algorithms for geometric task and motion planning
Beomjoon Kim, Luke Shimanuki, Leslie Pack Kaelbling +1
We present a framework for learning to guide geometric task and motion planning (GTAMP). GTAMP is a subclass of task and motion planning in which the goal is to move multiple objec…
A Long Horizon Planning Framework for Manipulating Rigid Pointcloud Objects
Anthony Simeonov, Yilun Du, Beomjoon Kim +4
We present a framework for solving long-horizon planning problems involving manipulation of rigid objects that operates directly from a point-cloud observation, i.e. without prior…
Integrated Task and Motion Planning
Caelan Reed Garrett, Rohan Chitnis, Rachel Holladay +4
The problem of planning for a robot that operates in environments containing a large number of objects, taking actions to move itself through the world as well as to change the sta…
Learning to guide task and motion planning using score-space representation
Beomjoon Kim, Zi Wang, Leslie Pack Kaelbling +1
In this paper, we propose a learning algorithm that speeds up the search in task and motion planning problems. Our algorithm proposes solutions to three different challenges that a…