Graph-based Reinforcement Learning meets Mixed Integer Programs: An application to 3D robot assembly discovery
Niklas Funk,Svenja Menzenbach,Georgia Chalvatzaki,Jan Peters,Niklas Funk,Svenja Menzenbach,Georgia Chalvatzaki,Jan Peters
Robot assembly discovery (RAD) is a challenging problem that lives at the intersection of resource allocation and motion planning. The goal is to combine a predefined set of objects to form something new while considering task execution with the robot-in-the-loop. In this work, we tackle the problem of building arbitrary, predefined target structures entirely from scratch using a set of Tetris-lik...
