2025
STAMP: Differentiable Task and Motion Planning via Stein Variational Gradient Descent
Yewon Lee, Andrew Zou Li, Philip Huang, Eric Heiden, Krishna Murthy Jatavallabhula, Fabian Damken +4
RA-L 2025
Planning for sequential robotics tasks often requires integrated symbolic and geometric reasoning. TAMP algorithms typically solve these problems by performing a tree search over high-level task sequences while checking for kinematic and dynamic feasibility. This can be inefficient because, typicall