During long-horizon task planning, a robot must decide what to do, while ensuring each action is geometrically feasible.
To this end, we propose ๐ฝ๐น๐ฎ๐ป๐ป๐ถ๐ป๐ด ๐๐ถ๐๐ต ๐ถ๐ป๐๐ฒ๐ฟ๐น๐ฒ๐ฎ๐๐ฒ๐ฑ ๐๐ถ๐๐ถ๐ผ๐ป-๐น๐ฎ๐ป๐ด๐๐ฎ๐ด๐ฒ ๐๐ต๐ผ๐๐ด๐ต๐๐.
้กฏ็คบๆดๅค
