Object-Level Planning and Abstraction

Read the paper here:

• OpenReview

NOTES

• This work was submitted as a “blue-sky” workshop paper, where the goal is to outline some big idea or take some kind of position in terms of a research direction or agenda.
• Here, I talk about the benefits of object-level planning, where a robot needs to start with some schematic plan that then is broken down into task- and motion-level planning (as in TAMP).

Citation

D. Paulius (2022). “Object-Level Planning and Abstraction”. In: Conference on Robot Learning (CoRL) 2022 Workshop on Learning, Perception, and Abstraction for Long-Horizon Planning, https://openreview.net/forum?id=YfjoSxZekWW .