1. Combined Task and Motion Planning for Mobile Manipulation Jason Wolfe, etc. University of California, Berkeley Mozi Song INFOTECH 1

2. Layout Problem introduction Domain and Hierarchy SATHN algorithm Results Conclusion 2

3. Layout Problem introduction Domain and Hierarchy SATHN algorithm Results Conclusion 3

4. Introduction: 1. Pick-and-Place problem 4 Abstract actions Primitive actions Action Hierarchy Action levels

5. Introduction: 2. Tasks 5 Sequence operations Decide on details Optimize

6. Introduction: 3. Challenges 6 Geometric constraints Real-time limits

7. Layout Problem introduction Domain and Hierarchy SATHN algorithm Results Conclusion 7

8. Domain and Hierarchy 1. Initial state Robot configuration Object geometry, position, relation with other objects 8

9. Domain and Hierarchy 2. Transition model *external planners instead of PDDL— dealing with uncertainty 9

10. Domain and Hierarchy 3. Action hierarchy High-level-actions(HLA) Immediate refinements of each HLA 10

11. Domain and Hierarchy 3. Action hierarchy 11

12. Domain and Hierarchy 3. Action hierarchy Infinite refinements of an HLA: random sampled sequence Hierarchically optimal result 12

13. Layout Problem introduction Domain and Hierarchy SATHN algorithm Results Conclusion 13

14. SATHN Algorithm 14

15. SATHN Algorithm 15 subtask-specific irrelevance

16. Layout Problem introduction Domain and Hierarchy SATHN algorithm Results Conclusion 16

17. Results Feasibility Efficiency 17

18. Layout Problem introduction Domain and Hierarchy SATHN algorithm Results Conclusion 18

19. Conclusion Action hierarchy State abstraction A proof-of-concept of task-level planning 19

20. Conclusion-Future work Approximate models for the HLAs and primitives Search algorithms managing cost- quality tradeoff 20

21. Q & A Problem introduction Domain and Hierarchy SATHN algorithm Results Conclusion 21

22. Thank you 22