Integrating Task-Motion Planning with Reinforcement Learning for Robust Decision Making in Mobile Robots

21 Nov 2018Yuqian JiangFangkai YangShiqi ZhangPeter Stone

Task-motion planning (TMP) addresses the problem of efficiently generating executable and low-cost task plans in a discrete space such that the (initially unknown) action costs are determined by motion plans in a corresponding continuous space. However, a task-motion plan can be sensitive to unexpected domain uncertainty and changes, leading to suboptimal behaviors or execution failures... (read more)

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