Zhutian (Skye) Yang
Description: PIGINet: A Transformer-based Plan Feasibility Predictor for Faster Task and Motion Planning
transformers (434) manipulation (213) task and motion planning (1)
We present a learning-enabled Task and Motion Planning (TAMP) algorithm for solving mobile manipulation problems in environments with many articulated and movable obstacles. Our idea is to bias the search procedure of a traditional TAMP planner with a learned plan feasibility predictor. The core of our algorithm is PIGINet, a novel Transformer-based learning method that takes in a task plan, the goal, and the initial state, and predicts the probability of finding motion trajectories associated with the task
Zhutian (Skye) Yang