Meta-Optimization and Program Search using Language Models for Task and Motion Planning
This work introduces Meta-Optimization and Program Search (MOPS) to jointly solve Task and Motion Planning (TAMP). It frames TAMP as a meta-optimization problem over a Language Model Program, allowing the system to refine both symbolic task constraints and continuous motion parameters simultaneously. This hierarchical framework uses foundation models to propose constraints, followed by iterative optimization of those constraints and the resulting trajectory.