Learning to guide task and motion planning using score-space representation
نویسندگان
چکیده
منابع مشابه
Integrated task and motion planning in belief space
We describe an integrated strategy for planning, perception, state-estimation and action in complex mobile manipulation domains based on planning in the belief space of probability distributions over states using hierarchical goal regression (pre-image back-chaining). We develop a vocabulary of logical expressions that describe sets of belief states, which are goals and subgoals in the planning...
متن کاملIntegrated robot task and motion planning in belief space
In this paper, we describe an integrated strategy for planning, perception, state-estimation and action in complex mobile manipulation domains. The strategy is based on planning in the belief space of probability distribution over states. Our planning approach is based on hierarchical goal regression (pre-image back-chaining). We develop a vocabulary of fluents that describe sets of belief stat...
متن کاملMotion Planning for Multi-robot Coordination on Representation Space
The multi-robot coordination task is investigated in its Representation Space (RS). First, the RS model of the robot system as well as its prescribed task is formulated by clarifying the internal and external constraints affecting task realization. All constraints are depicted as unreachable areas in RS model. Then, whether a task is feasible or not is transformed to check 1) if the final repre...
متن کاملA Task Space Redundancy-Based Scheme for Motion Planning
In many applications, the manipulations require only part of the degrees of freedom (DOFs) of the endeffector, or some DOFs are more important than the rest. We name these applications prioritized manipulations. The end-effector’s DOFs are divided into those which are critical and must be controlled as precisely as possible, and those which have loose specifications, so their tracking performan...
متن کاملthe effects of time planning and task complexity on accuracy of narrative task performance
هدف اصلی این تحقیق بررسی تاثیر برنامه ریزی زمانی، هم چنین افزایش میزان پیچیدگی تکالیف در نظر گرفته شده بصورت همزمان، بر دقت و صحت و پیچیدگی عملکرد نوشتاری زبان آموزان می باشد. بدین منظور، 50 نفر از دانش آموزان دختر در رده ی سنی 16 الی 18 سال به عنوان شرکت کنندگان در این زمینه ی تحقیق در نظر گرفته شدند و به دو گروه آزمایشی و کنترل بصورت اتفاقی تقسیم شدند. اعضای گروه آزمایشی هر دو تکلیف ساده و پی...
ذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 2019
ISSN: 0278-3649,1741-3176
DOI: 10.1177/0278364919848837