2024
Partially Observable Task and Motion Planning with Uncertainty and Risk Awareness
Aidan Curtis, George Matheos, Nishad Gothoskar, Vikash Mansinghka, Joshua B. Tenenbaum, Tomás Lozano-Pérez +1
RSS 2024poster
Integrated task and motion planning (TAMP) has proven to be a valuable approach to generalizable long-horizon robotic manipulation and navigation problems. However, the typical TAMP problem formulation assumes full observability and deterministic action effects. These assumptions limit the ability o…