PDDLGym Taskography
Introduced in TASKOGRAPHY: Evaluating robot task planning over large 3D scene graphs2022
PDDL dataset of Rearrangement tasks in large-scale 3D scene graphs.
This work constructs TASKOGRAPHY, the first large-scale robotic task planning benchmark over 3DSGs, and proposes SEEK, a procedure enabling learning-based planners to exploit 3DSG structure, reducing the number of replanning queries required by current best approaches by an order of magnitude.
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