Search-Based Task Planning with Learned Skill Effect Models for Lifelong Robotic Manipulation
Jacky Liang,Mohit Sharma,Alex LaGrassa,Shivam Vats,Saumya Saxena,Oliver Kroemer,Jacky Liang,Mohit Sharma,Alex LaGrassa,Shivam Vats,Saumya Saxena,Oliver Kroemer
Robots deployed in many real-world settings need to be able to acquire new skills and solve new tasks over time. Prior works on planning with skills often make assumptions on the structure of skills and tasks, such as subgoal skills, shared skill implementations, or task-specific plan skeletons, which limit adaptation to new skills and tasks. By contrast, we propose doing task planning by jointly ...
