Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Admissible Abstractions for Near-optimal Task and Motion Planning   We define an admissibility condition for abstractions expressed using angelic
semantics and show that these conditions allow us to accelerate planning while
preserving the ability to find the optimal motion plan. We then derive
admissible abstractions for two motion planning domains with continuous state.
We extract upper and lower bounds on the cost of concrete motion plans using
local metric and topological properties of the problem domain. These bounds
guide the search for a plan while maintaining performance guarantees. We show
that abstraction can dramatically reduce the complexity of search relative to a
direct motion planner. Using our abstractions, we find near-optimal motion
plans in planning problems involving $10^{13}$ states without using a separate
task planner.

10
The categories of this paper are: q-bio
2
The categories of this paper are: math
29
The categories of this paper are: funct-an
36
The categories of this paper are: cmp-lg
23
The categories of this paper are: solv-int
0
The categories of this paper are: hep-ph
9
The categories of this paper are: nlin
12
The categories of this paper are: nucl-th
33
The categories of this paper are: plasm-ph
17
The categories of this paper are: q-fin
24
The categories of this paper are: dg-ga
7
The categories of this paper are: hep-th
30
The categories of this paper are: q-alg
8
The categories of this paper are: hep-ex
31
The categories of this paper are: ao-sci
21
The categories of this paper are: adap-org