Adversarial Actor-Critic Method for Task and Motion Planning Problems Using Planning Experience

Adversarial Actor-Critic Method for Task and Motion Planning Problems Using Planning Experience

We propose an actor-critic algorithm that uses past planning experience to improve the efficiency of solving robot task-and-motion planning (TAMP) problems. TAMP planners search for goal-achieving sequences of high-level operator instances specified by both discrete and continuous parameters. Our al...

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Bibliographic Details
Main Authors: Kim, Beomjoon, Kaelbling, Leslie P, Lozano-Pérez, Tomás
Other Authors: Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Format: Article
Published: Association for the Advancement of Artificial Intelligence (AAAI) 2021
Online Access:https://hdl.handle.net/1721.1/130053

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