Representation, learning, and planning algorithms for geometric task and motion planning

Beomjoon Kim, Luke Shimanuki, Leslie Pack Kaelbling, Tomás Lozano-Pérez

Abstract: We present a framework for learning to guide geometric task-and-motion planning (G-TAMP). G-TAMP is a subclass of task-and-motion planning in which the goal is to move multiple objects to target re...