Hierarchical Planning for Long-Horizon Manipulation with Geometric and Symbolic Scene Graphs
Yifeng Zhu,Jonathan Tremblay,Stan Birchfield,Yuke Zhu,Yifeng Zhu,Jonathan Tremblay,Stan Birchfield,Yuke Zhu
We present a visually grounded hierarchical planning algorithm for long-horizon manipulation tasks. Our algorithm offers a joint framework of neuro-symbolic task planning and low-level motion generation conditioned on the specified goal. At the core of our approach is a two-level scene graph representation, namely geometric scene graph and symbolic scene graph. This hierarchical representation ser...
