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1
Angelic Hierarchical Planning
Bhaskara Marthi Stuart Russell Jason WolfeWillow Garage UC Berkeley UC Berkeley
 
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Levels of Decision-Making
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Task: which object to move where?
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Grasp planner: where to grasp object?
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Inverse kinematics: arm/whole-body configuration
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Motion planner: path through cspace
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Tra ector followin : oint tor ues/velocities
 
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How to connect levels?
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Standard model: top-down+heuristics
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Decide which object to move next
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Choose grasp point
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Find IK solution
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Etc
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Protocol
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High level gives low level a planning instance 
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