Platform-Independent Benchmarks for Task and Motion Planning

Fabien Lagriffoul; Neil T. Dantam; Caelan Reed Garrett; Aliakbar Akbari; Siddharth Srivastava; Lydia E. Kavraki

RA-L 201873 citations

Platform-Independent Benchmarks for Task and Motion Planning

Fabien Lagriffoul, Neil T. Dantam, Caelan Reed Garrett, Aliakbar Akbari, Siddharth Srivastava, Lydia E. Kavraki

Abstract

We present the first platform-independent evaluation method for task and motion planning (TAMP). Previously point, various problems have been used to test individual planners for specific aspects of TAMP. However, no common set of metrics, formats, and problems have been accepted by the community. We propose a set of benchmark problems covering the challenging aspects of TAMP and a planner-independent specification format for these problems. Our objective is to better evaluate and compare TAMP planners, foster communication, and progress within the field, and lay a foundation to better understand this class of planning problems.

BibTeX

@inproceedings{ral2018_platformindepend,
  title = {Platform-Independent Benchmarks for Task and Motion Planning},
  author = {Fabien Lagriffoul and Neil T. Dantam and Caelan Reed Garrett and Aliakbar Akbari and Siddharth Srivastava and Lydia E. Kavraki},
  booktitle = {RA-L 2018},
  year = {2018}
}