Differentiable Task Assignment and Motion Planning
Jimmy Envall,Roi Poranne,Stelian Coros,Jimmy Envall,Roi Poranne,Stelian Coros
Task and motion planning is one of the key problems in robotics today. It is often formulated as a discrete task allocation problem combined with continuous motion planning. Many existing approaches to TAMP involve explicit descriptions of task primitives that cause discrete changes in the kinematic relationship between the actor and the objects. In this work we propose an alternative, fully diffe...
