Beyond Task and Motion Planning: Hierarchical Robot Planning with General-Purpose Policies

Task and motion planning is a well-established approach for solving long-horizon robot planning problems. However, traditional methods assume that each task-level robot action, or skill, can be reduced to kinematic motion planning. In this work, we address the challenge of planning with both kinematic skills and closed-loop motor controllers that go beyond kinematic considerations. We propose a novel method that integrates these controllers into motion planning using Composable Interaction Primitives (CIPs), enabling the use of diverse, non-composable pre-learned skills in hierarchical robot planning. Toward validating our Task and Skill Planning (TASP) approach, we describe ongoing robot experiments in real-world scenarios designed to demonstrate how CIPs can allow a mobile manipulator robot to effectively combine motion planning with general-purpose skills to accomplish complex tasks.

@article{hedegaard2025_2504.17901,
  title={ Beyond Task and Motion Planning: Hierarchical Robot Planning with General-Purpose Policies },
  author={ Benned Hedegaard and Ziyi Yang and Yichen Wei and Ahmed Jaafar and Stefanie Tellex and George Konidaris and Naman Shah },
  journal={arXiv preprint arXiv:2504.17901},
  year={ 2025 }
}