Long-Horizon Planning and Execution with Functional Object-Oriented Networks

TL;DR – In this paper, we introduce the idea of connecting FOONs to robotic task and motion planning. We automatically transform a FOON graph, which exists at the object level (i.e., it is a representation that uses meaningful labels or expressions close to human language), into task planning specifications written in PDDL (not a very intuitive way to communicate about tasks).

June 2023 · David Paulius, Alejandro Agostini, Dongheui Lee

Object-Level Planning and Abstraction

TL;DR – This workshop paper (specifically, a blue-sky submission) introduces the importance of object-level planning and representation as an additional layer on top of task and motion planning. I present several benefits of using object-level planning for long-term use in robotics.

December 2022 · David Paulius