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PDDLStream: Integrating Symbolic Planners and Blackbox Samplers via Optimistic Adaptive Planning
Open accessAbstract
Many planning applications involve complex relationships defined on high-dimensional, continuous variables. For example, robotic manipulation requires planning with kinematic, collision, visibility, and motion constraints involving robot configurations, object poses, and robot trajectories. These constraints typically require specialized procedures to sample satisfying values. We extend PDDL to support a generic, declarative specification for these procedures that treats their implementation as black boxes. We provide domain-independent algorithms that reduce PDDLStream problems to a sequence of finite PDDL problems. We also introduce an algorithm that dynamically balances exploring new candidate plans and exploiting existing ones. This enables the algorithm to greedily search the space of parameter bindings to more quickly solve tightly-constrained problems as well as locally optimize to produce low-cost solutions. We evaluate our algorithms on three simulated robotic planning domains as well as several real-world robotic tasks.
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Large language models for chemistry robotics
Yoshikawa, N., Skreta, M., Darvish, K., Arellano-Rubach, S., Ji, Z., Bjørn Kristensen, L., Li, A. Z., Zhao, Y., Xu, H., Kuramshin, A., et al. (2023) · Autonomous Robots · doi:10.1007/s10514-023-10136-2 · Cited by 112
Cosmos-Transfer1: Conditional World Generation with Adaptive Multimodal Control
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Metadata
- Authors
- Garrett, C. R., Lozano-Pérez, T., & Kaelbling, L. P.
- Affiliations
- Massachusetts Institute of Technology (US)
- Venue
- Proceedings of the International Conference on Automated Planning and Scheduling
- Published
- 2020-06-01
- Volume
- 30
- Pages
- 440-448
- ISSN
- 2334-0835 (ISSN-L)
- 2334-0843
- OpenAlex
- W3001865277
- Cited by
- 191
- References
- 1
- Citations by year
- 2026: 21 · 2025: 49 · 2024: 42 · 2023: 37 · 2022: 20 · 2021: 20 · 2020: 2
- FWCI
- 7.39
- Type
- conference paper
- Language
- en
- Open access
- diamond
- doi.org
- Locations
- Proceedings of the International Conference on Automated Planning and Scheduling (publishedVersion)
- arXiv (Cornell University) (submittedVersion)
- DSpace@MIT (Massachusetts Institute of Technology) (submittedVersion, cc-by-nc-sa)
- AAAI Publications (The Association for the Advancement of Artificial Intelligence (AAAI)) (submittedVersion)
- arXiv (Cornell University)
- International Conference on Automated Planning and Scheduling
- Funders
- National Science Foundation (1723381, 1523767)
- Singapore University of Technology and Design
- Office of Naval Research (N00014-18, N00014-18-1-2847, FA9550, N00014)
- Air Force Office of Scientific Research (FA9550-17, FA9550-, FA9550-17-1, FA9550-17-1-0165)
- Topics
- Physical Sciences › Computer Science › Artificial Intelligence › AI-based Problem Solving and Planning
- Physical Sciences › Engineering › Control and Systems Engineering › Robotic Path Planning Algorithms
- Physical Sciences › Computer Science › Artificial Intelligence › Reinforcement Learning in Robotics
- Keywords
- symbolic planning, continuous planning, robotic manipulation
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