Visually Grounded Task and Motion Planning for Mobile Manipulation
Xiaohan Zhang,Yifeng Zhu,Yan Ding,Yuke Zhu,Peter Stone,Shiqi Zhang,Xiaohan Zhang,Yifeng Zhu,Yan Ding,Yuke Zhu,Peter Stone,Shiqi Zhang
Task and motion planning (TAMP) algorithms aim to help robots achieve task-level goals, while maintaining motion-level feasibility. This paper focuses on TAMP domains that involve robot behaviors that take extended periods of time (e.g., long-distance navigation). In this paper, we develop a visual grounding approach to help robots probabilistically evaluate action feasibility, and introduce a TAM...
