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simmediumhumanoidmetric · varies
ScheduleStream: Temporal Planning with Samplers for GPU-Accelerated Multi-Arm Task and Motion Planning & Scheduling
Description
Bimanual and humanoid robots are appealing because of their human-like ability to leverage multiple arms to efficiently complete tasks. However, controlling multiple arms at once is computationally challenging due to the growth in the hybrid discrete-continuous action space. Task and Motion Planning (TAMP) algorithms can efficiently plan in hybrid spaces but generally produce plans, where only one arm is moving at a time, rather than schedules that allow for parallel arm motion. In order to exte