PDDLStream: Integrating Symbolic Planners and Blackbox Samplers via Optimistic Adaptive Planning

Understand

Many planning applications involve complex relationships defined on high-dimensional, continuous variables.

• For example, robotic manipulation requires planning with kinematic, collision, visibility, and motion constraints involving robot configurations, object poses, and robot trajectories.
• These constraints typically require specialized procedures to sample satisfying values.
• We extend PDDL to support a generic, declarative specification for these procedures that treats their implementation as black boxes.