An anticipatory task planner with a GNN over 3D scene graphs reduces long-horizon task costs by 5 to 42 percent in simulated home and restaurant settings.
Hierarchical task and motion planning in the now
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Anticipatory Planning for Performant Long-Lived Robot in Large-Scale Home-Like Environments
An anticipatory task planner with a GNN over 3D scene graphs reduces long-horizon task costs by 5 to 42 percent in simulated home and restaurant settings.