Planning Robotic Cutting Operations

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.

Name thesis:degree_name

Master

Department dc:contributor.department

Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2025

Author dc:creator

• Lunawat, Tarang

Advisor dc:contributor.advisor

• Lozano-Pérez, Tomás

Statement dc:rights

• In Copyright - Educational Use Permitted
• Copyright retained by author(s)

Licence dc:rights.uri

• https://rightsstatements.org/page/InC-EDU/1.0/

Handle dc:identifier.uri

https://hdl.handle.net/1721.1/162979

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/162979