Matteo Saveriano

The execution of robotic manipulation tasks requires sophisticated tasks and motion planning. In this domain, the problem arises of generating physically feasible plans. This problem has been typically addressed in the robotic community by exploiting geometric reasoning and intensive, physics-based simulation. In this talk, I present recent work to tackle this problem.

An object-centered description of geometric constraints is used for task planning, allowing to generate physically plausible plans in changing domains. Action grounding is implemented using a task and motion planning approach that hierarchically decomposes a symbol to generate executable robotics commands. The talk describes the developed approach and shows promising results in complex manipulation tasks.