3 accepted papers
One promising approach towards effective robot decision making in complex, long-horizon tasks is to sequence together *parameterized skills*. We consider a setting where a robot is initially equipped with (1) a library of parameterized skills, (2) an AI planner for sequencing together the skills giv…
An effective approach to solving long-horizon tasks in robotics domains with continuous state and action spaces is bilevel planning, wherein a high-level search over an abstraction of an environment is used to guide low-level decision-making. Recent work has shown how to enable such bilevel planning…
Efficient planning in continuous state and action spaces is fundamentally hard, even when the transition model is deterministic and known. One way to alleviate this challenge is to perform bilevel planning with abstractions, where a high-level search for abstract plans is used to guide planning in t…