Learning Refinement Cost Estimators for Bilevel Planning
Bilevel planning is an effective approach for solving complex task and motion planning (TAMP) problems with continuous state and action spaces, that involves first searching for a high-level abstract plan and then refining it into a sequence of lowlevel actions. Although the low-level refinement pro...
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| Format: | Thesis |
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Massachusetts Institute of Technology
2023
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| Online Access: | https://hdl.handle.net/1721.1/151612 |