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simmediummobile-manipulationmetric · varies
LLM-GROP: Visually Grounded Robot Task and Motion Planning with Large Language Models
Description
Task planning and motion planning are two of the most important problems in robotics, where task planning methods help robots achieve high-level goals and motion planning methods maintain low-level feasibility. Task and motion planning (TAMP) methods interleave the two processes of task planning and motion planning to ensure goal achievement and motion feasibility. Within the TAMP context, we are concerned with the mobile manipulation (MoMa) of multiple objects, where it is necessary to interlea