Unified Task and Motion Planning using Object-centric Abstractions of Motion Constraints

• URL: http://arxiv.org/abs/2312.17605v1
• Date: Fri, 29 Dec 2023 14:00:20 GMT
• Title: Unified Task and Motion Planning using Object-centric Abstractions of Motion Constraints
• Authors: Alejandro Agostini, Justus Piater
• Abstract summary: We propose an alternative TAMP approach that unifies task and motion planning into a single search. Our approach is based on an object-centric abstraction of motion constraints that permits leveraging the computational efficiency of off-the-shelf AI search to yield physically feasible plans.
• Score: 56.283944756315066
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: In task and motion planning (TAMP), the ambiguity and underdetermination of abstract descriptions used by task planning methods make it difficult to characterize physical constraints needed to successfully execute a task. The usual approach is to overlook such constraints at task planning level and to implement expensive sub-symbolic geometric reasoning techniques that perform multiple calls on unfeasible actions, plan corrections, and re-planning until a feasible solution is found. We propose an alternative TAMP approach that unifies task and motion planning into a single heuristic search. Our approach is based on an object-centric abstraction of motion constraints that permits leveraging the computational efficiency of off-the-shelf AI heuristic search to yield physically feasible plans. These plans can be directly transformed into object and motion parameters for task execution without the need of intensive sub-symbolic geometric reasoning.

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