Abstract
We consider a set of challenging sequential manipulation puzzles, where an agent has to interact with multiple movable objects and navigate narrow passages. Such settings are notoriously difficult for Task-and-Motion Planners, as they require interdependent regrasps and solving hard motion planning problems. In this paper, we propose to search over sequences of easier pick-and-place subproblems, which can lead to the solution of the manipulation puzzle. Our method combines a heuristic-driven forward search of subproblems with an optimization-based Task-and-Motion Planning solver. To guide the search, we introduce heuristics to generate and prioritize useful subgoals. We evaluate our approach on various manually designed and automatically generated scenes, demonstrating the benefits of auxiliary subproblems in sequential manipulation planning.
Abstract (translated)
我们考虑一组具有挑战性的序列操作谜题，其中智能体需要与多个可移动的对象进行交互并穿越狭窄的通道。对于任务和动作规划器来说，这样的设置通常是困难的，因为它们需要相互依存的规则和解决困难的动作规划问题。在本文中，我们提出了一个搜索更容易的挑选和放置子问题的序列的方法，这些问题可以导致操作谜题的解决。我们的方法结合了以启发式驱动的前向搜索子问题以及基于优化的任务和动作规划器的优化方法。为了引导搜索，我们引入了启发式来生成和优先考虑有用的子目标。我们在各种手动设计和自动生成的场景中评估了我们的方法，证明了辅助子问题在序列操作规划中的优势。
URL
https://arxiv.org/abs/2405.02053
