Roshan Kumar Hota

Synergistic Task and Motion Planning With Reinforcement Learning-Based Non-Prehensile Actions

Robotic manipulation in cluttered environments requires synergistic planning among prehensile and non-prehensile actions. Previous works on sampling-based Task and Motion Planning (TAMP) algorithms, e.g. PDDLStream, provide a fast and generalizable solution for multi-modal manipulation. However, the