Representation, learning, and planning algorithms for geometric task and motion planning
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 regions among movable obstacles. A standard graph search algorithm is not directly applicable, because G-TAMP problems involve hybrid search spaces and expensive action feasibility checks. To handle this, we introduce a novel planner that extends basic heuristic search with random sampling and a heuristic function that prioritizes feasibility checking on promising state–action pairs. The main drawback of such pure planners is that they lack the ability to learn from planning experience to improve their efficiency. We propose two learning algorithms to address this. The first is an algorithm for learning a rank function that guides the discrete task-level search, and the second is an algorithm for learning a sampler that guides the continuous motion-level search. We propose design principles for designing data-efficient algorithms for learning from planning experience and representations for effective generalization. We evaluate our framework in challenging G-TAMP problems, and show that we can improve both planning and data efficiency.
Document Details
- Document Type
- Pub Defense Publication
- Publication Date
- Sep 08, 2021
- Source ID
- 10.1177/02783649211038280
Entities
People
- Beomjoon Kim
- Leslie Pack Kaelbling
- Luke Shimanuki
- Tomas Lozano-Pérez
Organizations
- Air Force Office of Scientific Research
- KAIST
- Massachusetts Institute of Technology
- National Science Foundation
- Office of Naval Research