[AI614] Overview of Robot Task and Motion planning

1. Introduction to Robotics: Mechanics and Control
   • Positions and orientations of rigid bodies
   • Manipulator forward and inverse kinematics
   • Manipulator velocities and dynamics
   • Manipulator equation
2. Motion planning
   • Discretization-based methods -RRTs and PRMs
   • Sampling-based algorithms -RRT*
   • Probabilistic completeness
3. Task planning
   • Representations for task planning -Logic-based AI, First-order logic, and STRIPS
   • Heuristic search for task planning
4. Task and motion planning
   • SAHS, HPN, PDDLStream
   • Logic-geometric programming
   • Challenges. Learning to guide TAMP
5. Future
   • Grounding representations in perception
   • Language model and planning
   • Imposing objectness in perception
   • Object representation for manipulation
   • Learning the models for TAMP
   • Scene representation and dynamics learning