Combined Task and Motion Planning Via Sketch Decompositions (Extended Version with Supplementary Material)
arxiv(2024)
摘要
The challenge in combined task and motion planning (TAMP) is the effective
integration of a search over a combinatorial space, usually carried out by a
task planner, and a search over a continuous configuration space, carried out
by a motion planner. Using motion planners for testing the feasibility of task
plans and filling out the details is not effective because it makes the
geometrical constraints play a passive role. This work introduces a new
interleaved approach for integrating the two dimensions of TAMP that makes use
of sketches, a recent simple but powerful language for expressing the
decomposition of problems into subproblems. A sketch has width 1 if it
decomposes the problem into subproblems that can be solved greedily in linear
time. In the paper, a general sketch is introduced for several classes of TAMP
problems which has width 1 under suitable assumptions. While sketch
decompositions have been developed for classical planning, they offer two
important benefits in the context of TAMP. First, when a task plan is found to
be unfeasible due to the geometric constraints, the combinatorial search
resumes in a specific sub-problem. Second, the sampling of object
configurations is not done once, globally, at the start of the search, but
locally, at the start of each subproblem. Optimizations of this basic setting
are also considered and experimental results over existing and new
pick-and-place benchmarks are reported.
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