相关论文: Task Interaction in an HTN Planner

Recent advancements have significantly enhanced the performance of large language models (LLMs) in tackling complex reasoning tasks, achieving notable success in domains like mathematical and logical reasoning. However, these methods…

Hierarchical Task Network (HTN) planning usually requires a domain engineer to provide manual input about how to decompose a planning problem. Even HTN-MAKER, a well-known method-learning algorithm, requires a domain engineer to annotate…

Robotic planning problems in hybrid state and action spaces can be solved by integrated task and motion planners (TAMP) that handle the complex interaction between motion-level decisions and task-level plan feasibility. TAMP approaches rely…

Current evaluation functions for heuristic planning are expensive to compute. In numerous planning problems these functions provide good guidance to the solution, so they are worth the expense. However, when evaluation functions are…

We introduce a framework for cooperative manipulation, applied on an underactuated manipulation problem. Two stationary robotic manipulators are required to cooperate in order to reposition an object within their shared work space. Control…

We present a framework for learning to plan hierarchically in domains with unknown dynamics. We enhance planning performance by exploiting problem structure in several ways: (i) We simplify the search over plans by leveraging knowledge of…

Task and Motion Planning combines high-level task sequencing (what to do) with low-level motion planning (how to do it) to generate feasible, collision-free execution plans. However, in many real-world domains, such as automated warehouses,…

Executing temporal plans in the real and open world requires adapting to uncertainty both in the environment and in the plan actions. A plan executor must therefore be flexible to dispatch actions based on the actual execution conditions.…

Over the last year, the amount of research in hierarchical planning has increased, leading to significant improvements in the performance of planners. However, the research is diverging and planners are somewhat hard to compare against each…

Efficient and robust task planning for a human-robot collaboration (HRC) system remains challenging. The human-aware task planner needs to assign jobs to both robots and human workers so that they can work collaboratively to achieve better…

Complex manipulation tasks require careful integration of symbolic reasoning and motion planning. This problem, commonly referred to as Task and Motion Planning (TAMP), is even more challenging if the workspace is non-static, e.g. due to…

Many complex real-world tasks are composed of several levels of sub-tasks. Humans leverage these hierarchical structures to accelerate the learning process and achieve better generalization. In this work, we study the inductive bias and…

Robots need task planning algorithms to sequence actions toward accomplishing goals that are impossible through individual actions. Off-the-shelf task planners can be used by intelligent robotics practitioners to solve a variety of planning…

Traditional robot task planning methods face challenges when dealing with highly unstructured environments and complex tasks. We propose a task planning method that combines human expertise with an LLM and have designed an LLM prompt…

We propose a framework to learn to schedule a job-shop problem (JSSP) using a graph neural network (GNN) and reinforcement learning (RL). We formulate the scheduling process of JSSP as a sequential decision-making problem with graph…

To enable non-experts to specify long-horizon, multi-robot collaborative tasks, language models are increasingly used to translate natural language commands into formal specifications. However, because translation can occur in multiple…

In Natural Language Processing (NLP), predicting linguistic structures, such as parsing and chunking, has mostly relied on manual annotations of syntactic structures. This paper introduces an unsupervised approach to chunking, a syntactic…

A general-purpose planning agent requires an open-scope world model: one rich enough to tackle any of the wide range of tasks it may be asked to solve over its operational lifetime. This stands in contrast with typical planning approaches,…

Learning-based approaches have achieved remarkable performance in the domain of autonomous driving. Leveraging the impressive ability of neural networks and large amounts of human driving data, complex patterns and rules of driving behavior…

Symbolic planning is a powerful technique to solve complex tasks that require long sequences of actions and can equip an intelligent agent with complex behavior. The downside of this approach is the necessity for suitable symbolic…