Planning Robotic Cutting Operations
Name
lunawat-tarang-meng-eecs-2025-thesis.pdf
Description
Thesis PDF
Size
1.99 MB
Format
Adobe PDF
Checksum (MD5)
0188d9766424803f8c01312cc14f7543
Author(s)
Lunawat, Tarang
Advisor(s)
Lozano-Pérez, Tomás
Date Issued
May 2025
Publisher
Massachusetts Institute of Technology
Abstract
Classical planning and most PDDL variants operate on the assumption that the number and types of objects present in the environment are known at the time of initialization and neither can nor do change during plan execution. However, there are many domains in which it is helpful and necessary to be able to capture action (or environment) effects that are able to change the existence of objects rather than just facts about these objects. PDDLStream already provides a framework for "certifying" new facts about the environment as necessary throughout plan execution; I propose using PDDLStream to construct a principled way to reason over not just added facts, but also added or removed objects in the environment. In order to do this, I will work within the domain of cutting operations in the kitchen, as this is a domain that both necessitates a lot of object change as objects are cut and often requires chains of these generated objects to be fully reasoned over. Additionally, I will lay the groundwork to use this principled way to reason over new objects to implement different types of cutting operations in the kitchen, with the eventual goal of a robot planner being able to sequence different provided actions to more efficiently work with knives in the kitchen in a human-like manner.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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