Platform-Independent Benchmarks for Task and Motion Planning

Fabien Lagriffoul, Neil T. Dantam, Caelan Garrett, Aliakbar Akbari, Siddharth Srivastava, Lydia E. Kavraki

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

We present the first platform-independent evaluation method for task and motion planning (TAMP). Previously point, various problems have been used to test individual planners for specific aspects of TAMP. However, no common set of metrics, formats, and problems have been accepted by the community. We propose a set of benchmark problems covering the challenging aspects of TAMP and a planner-independent specification format for these problems. Our objective is to better evaluate and compare TAMP planners, foster communication, and progress within the field, and lay a foundation to better understand this class of planning problems.

Original languageEnglish (US)
Article number8411475
Pages (from-to)3765-3772
Number of pages8
JournalIEEE Robotics and Automation Letters
Volume3
Issue number4
DOIs
StatePublished - Oct 1 2018

Fingerprint

Motion Planning
Motion planning
Benchmark
Covering Problem
Evaluation Method
Planning
Specification
Specifications
Metric
Evaluate
Communication

Keywords

  • manipulation planning
  • Performance evaluation and benchmarking
  • task planning

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Human-Computer Interaction
  • Biomedical Engineering
  • Mechanical Engineering
  • Control and Optimization
  • Artificial Intelligence
  • Computer Science Applications
  • Computer Vision and Pattern Recognition

Cite this

Lagriffoul, F., Dantam, N. T., Garrett, C., Akbari, A., Srivastava, S., & Kavraki, L. E. (2018). Platform-Independent Benchmarks for Task and Motion Planning. IEEE Robotics and Automation Letters, 3(4), 3765-3772. [8411475]. https://doi.org/10.1109/LRA.2018.2856701

Platform-Independent Benchmarks for Task and Motion Planning. / Lagriffoul, Fabien; Dantam, Neil T.; Garrett, Caelan; Akbari, Aliakbar; Srivastava, Siddharth; Kavraki, Lydia E.

In: IEEE Robotics and Automation Letters, Vol. 3, No. 4, 8411475, 01.10.2018, p. 3765-3772.

Research output: Contribution to journalArticle

Lagriffoul, F, Dantam, NT, Garrett, C, Akbari, A, Srivastava, S & Kavraki, LE 2018, 'Platform-Independent Benchmarks for Task and Motion Planning', IEEE Robotics and Automation Letters, vol. 3, no. 4, 8411475, pp. 3765-3772. https://doi.org/10.1109/LRA.2018.2856701
Lagriffoul, Fabien ; Dantam, Neil T. ; Garrett, Caelan ; Akbari, Aliakbar ; Srivastava, Siddharth ; Kavraki, Lydia E. / Platform-Independent Benchmarks for Task and Motion Planning. In: IEEE Robotics and Automation Letters. 2018 ; Vol. 3, No. 4. pp. 3765-3772.
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