Deep Visual Reasoning: Learning to Predict Action Sequences for Task and Motion Planning from an Initial Scene Image

9 Jun 2020Danny DriessJung-Su HaMarc Toussaint

In this paper, we propose a deep convolutional recurrent neural network that predicts action sequences for task and motion planning (TAMP) from an initial scene image. Typical TAMP problems are formalized by combining reasoning on a symbolic, discrete level (e.g. first-order logic) with continuous motion planning such as nonlinear trajectory optimization... (read more)

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