Search Results for author: Tianyu Ren

Found 3 papers, 1 papers with code

Accelerating Integrated Task and Motion Planning with Neural Feasibility Checking

no code implementations20 Mar 2022 Lei Xu, Tianyu Ren, Georgia Chalvatzaki, Jan Peters

Task and Motion Planning (TAMP) provides a hierarchical framework to handle the sequential nature of manipulation tasks by interleaving a symbolic task planner that generates a possible action sequence, with a motion planner that checks the kinematic feasibility in the geometric world, generating robot trajectories if several constraints are satisfied, e. g., a collision-free trajectory from one state to another.

Motion Planning

Extended Tree Search for Robot Task and Motion Planning

1 code implementation9 Mar 2021 Tianyu Ren, Georgia Chalvatzaki, Jan Peters

Moreover, we effectively combine this skeleton space with the resultant motion variable spaces into a single extended decision space.

Decision Making Motion Planning

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