In the scope of his bachelor's thesis, Arthur Niedzwiecki researched the topic of plan transformations in CRAM. He implemented new transformation rules for pick and place scenarios and developed a plan transformation pipeline. The video explains three possible transformations that are applied to the plans used on our PR2 (and Boxy) robot in the projected as well as real world environments. By analyzing the task tree of an executed CRAM plan, improvable patterns are found and altered to generate a better performing plan.
cram_plan_transformation package!