Integrated task and motion planning (TAMP) has proven to be a valuable approach to generalizable long-horizon robotic manipulation and navigation problems. However, the typical TAMP problem formulation assumes full observability and deterministic action effects. These assumptions limit the ability of the planner to gather information and make decisions that are risk-aware. We propose a strategy for TAMP with Uncertainty and Risk Awareness (TAMPURA) that is capable of efficiently solving long-horizon planning problems with initial-state and action outcome uncertainty, including problems that require information gathering and avoiding undesirable and irreversible outcomes. Our planner reasons under uncertainty at both the abstract task level and continuous controller level. Given a set of closed-loop goal-conditioned controllers operating in the primitive action space and a description of their preconditions and potential capabilities, we learn a high-level abstraction that can be solved efficiently and then refined to continuous actions for execution. We demonstrate our approach on several robotics problems where uncertainty is a crucial factor and show that reasoning under uncertainty in these problems outperforms previously proposed determinized planning, direct search, and reinforcement learning strategies. Lastly, we demonstrate our planner on two real-world robotics problems using recent advancements in probabilistic perception.
In this task, the robot plays a game of shuffleboard with a puck of unknown friction. It must first push the puck around the shuffleboard to estimate its friction before attempting the shot.
The robot has to stack three blocks, but is uncertain about their exact pose. Directly picking the objects would result in a low probability of success, so it uses the puck to reduce pose uncertainty before stacking the blocks.
The robot is searching for a small object (a die) in a cluttered scene. It can look behind objects or pick and place potential obstructors, but must avoid dropping breakable objects. What is the most efficient search strategy?
The robot most navigate through this 2d workspace and collect all the yellow blocks. Over time, it loses track of where it is and has to relocalize at the blue beacons.
@misc{curtis2024partially,
title={Partially Observable Task and Motion Planning with Uncertainty and Risk Awareness},
author={Aidan Curtis and George Matheos and Nishad Gothoskar and Vikash Mansinghka and Joshua Tenenbaum and Tomás Lozano-Pérez and Leslie Pack Kaelbling},
year={2024},
eprint={2403.10454},
archivePrefix={arXiv},
primaryClass={cs.RO}
}