During long-horizon task planning, a robot must decide what to do, while ensuring each action is geometrically feasible.
To this end, we propose đŊđšđŽđģđģđļđģđ´ đđļđđĩ đļđģđđ˛đŋđšđ˛đŽđđ˛đą đđļđđļđŧđģ-đšđŽđģđ´đđŽđ´đ˛ đđĩđŧđđ´đĩđđ.
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