Anytime Integrated Task and Motion Policies for Stochastic Environments
Naman Shah,Deepak Kala Vasudevan,Kislay Kumar,Pranav Kamojjhala,Siddharth Srivastava,Naman Shah,Deepak Kala Vasudevan,Kislay Kumar,Pranav Kamojjhala,Siddharth Srivastava
In order to solve complex, long-horizon tasks, intelligent robots need to carry out high-level, abstract planning and reasoning in conjunction with motion planning. However, abstract models are typically lossy and plans or policies computed using them can be unexecutable. These problems are exacerbated in stochastic situations where the robot needs to reason about, and plan for multiple contingenc...
