Task and Motion Planning

Task and motion planning describes a class of AI problems where a robot has to reason about solving long-horizon interactions with the world through actions and motions. A solution to this problem discovers a sequence of feasible actions, each of which is enacted by the robot using a feasible continuous motion.


An interactive toy example here involves using a robotic arm with four joints to transfer two objects to their goal regions. The solution needs to sequence pick and place actions and the motion of each joint to execute each action.

Task Planning

Drag and drop actions to rearrange them into a feasible task plan that use the robotic arm to move the objects to the goal regions.
  • PICK 
  • PLACE 
  • PICK 
  • PLACE 

Motion Planning

Use the sliders below to control the robotic arm and move the objects to the square regions according to the task plan. Each slider changes a joint angle and the end-effector (ee) attaches or detaches the circular objects.
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