Specifying and achieving goals in open uncertain robot-manipulation domains
| Autor: | Kaelbling, Leslie Pack, LaGrassa, Alex, Lozano-Pérez, Tomás |
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| Rok vydání: | 2021 |
| Předmět: | |
| Druh dokumentu: | Working Paper |
| Popis: | This paper describes an integrated solution to the problem of describing and interpreting goals for robots in open uncertain domains. Given a formal specification of a desired situation, in which objects are described only by their properties, general-purpose planning and reasoning tools are used to derive appropriate actions for a robot. These goals are carried out through an online combination of hierarchical planning, state-estimation, and execution that operates robustly in real robot domains with substantial occlusion and sensing error. Comment: Paper completed in 2019 |
| Databáze: | arXiv |
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