Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: FFRob: Leveraging Symbolic Planning for Efficient Task and Motion
  Planning   Mobile manipulation problems involving many objects are challenging to solve
due to the high dimensionality and multi-modality of their hybrid configuration
spaces. Planners that perform a purely geometric search are prohibitively slow
for solving these problems because they are unable to factor the configuration
space. Symbolic task planners can efficiently construct plans involving many
variables but cannot represent the geometric and kinematic constraints required
in manipulation. We present the FFRob algorithm for solving task and motion
planning problems. First, we introduce Extended Action Specification (EAS) as a
general purpose planning representation that supports arbitrary predicates as
conditions. We adapt existing heuristic search ideas for solving \proc{strips}
planning problems, particularly delete-relaxations, to solve EAS problem
instances. We then apply the EAS representation and planners to manipulation
problems resulting in FFRob. FFRob iteratively discretizes task and motion
planning problems using batch sampling of manipulation primitives and a
multi-query roadmap structure that can be conditionalized to evaluate
reachability under different placements of movable objects. This structure
enables the EAS planner to efficiently compute heuristics that incorporate
geometric and kinematic planning constraints to give a tight estimate of the
distance to the goal. Additionally, we show FFRob is probabilistically complete
and has finite expected runtime. Finally, we empirically demonstrate FFRob's
effectiveness on complex and diverse task and motion planning tasks including
rearrangement planning and navigation among movable objects.

23
The categories of this paper are: solv-int
32
The categories of this paper are: atom-ph
12
The categories of this paper are: nucl-th
22
The categories of this paper are: chao-dyn
30
The categories of this paper are: q-alg
18
The categories of this paper are: econ
31
The categories of this paper are: ao-sci
15
The categories of this paper are: nucl-ex
27
The categories of this paper are: comp-gas
11
The categories of this paper are: hep-lat
29
The categories of this paper are: funct-an
34
The categories of this paper are: chem-ph
16
The categories of this paper are: stat
5
The categories of this paper are: gr-qc
25
The categories of this paper are: patt-sol
9
The categories of this paper are: nlin