cuTAMP combines GPU-parallelized sampling and differentiable optimization to solve long-horizon task and motion planning problems on constrained manipulation tasks, outperforming serial baselines.
Integrated Task and Motion Planning
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Differentiable GPU-Parallelized Task and Motion Planning
cuTAMP combines GPU-parallelized sampling and differentiable optimization to solve long-horizon task and motion planning problems on constrained manipulation tasks, outperforming serial baselines.