Policy-Guided Lazy Search with Feedback for Task and Motion Planning
Mohamed Khodeir,Atharv Sonwane,Ruthrash Hari,Florian Shkurti,Mohamed Khodeir,Atharv Sonwane,Ruthrash Hari,Florian Shkurti
PDDLStream solvers have recently emerged as viable solutions for Task and Motion Planning (TAMP) problems, extending PDDL to problems with continuous action spaces. Prior work has shown how PDDLStream problems can be reduced to a sequence of PDDL planning problems, which can then be solved using off-the-shelf planners. However, this approach can suffer from long runtimes. In this paper we propose ...
