Graph-NLP Planner

Project webpage of the paper:

J. Ortiz-Haro, E. Karpas, M. Katz and M. Toussaint (2022). A Conflict-driven Interface between Symbolic Planning and Nonlinear Constraint Solving. IEEE Robotics and Automation Letters (RA-L).

Paper (with Appendix)

Supplementary Video

Duration: 3 min 20 s

Showcase: All real-world experiments

Duration: 2 min 10 s

Real-world experiments

Metrics:

Time: computational time (in seconds) to generate a solution (plan of tasks and motions)
N: number of symbolic actions of the found solution

Building a Hanoi Tower

	N	Time (s)
Side to middle	12	9.4
Side to side	24	25.1
Middle to side	12	9.2

a) Hanoi - Side to side

b) Hanoi - Side to middle

c) Hanoi - Middle to side

Building a Tower with obstacles

	N	Time (s)
Middle	12	5.5
Transfer	16	27.2
Middle-tower	12	8.9
Side-small	8	8.1

a) Obstacles - Middle

b) Obstacles - Transfer

c) Obstacles - Middle-tower

d) Obstacles - Side-small

Building a Tower

	N	Time (s)
Middle	12	2.9
Side	12	5.7
Transfer	24	37.1
Transfer-small	12	6.9