Bridging the gap between autonomous skill learning and task-specific planning

BRIDGING THE GAP BETWEEN AUTONOMOUS SKILL LEARNING AND TASK-SPECIFIC PLANNING

[1]  Oussama Khatib,et al.  A unified approach for motion and force control of robot manipulators: The operational space formulation , 1987, IEEE J. Robotics Autom..

[2]  Yoshihiko Nakamura,et al.  Advanced robotics - redundancy and optimization , 1990 .

[3]  Drew McDermott,et al.  A critique of pure reason 1 , 1987, The Philosophy of Artificial Intelligence.

[4]  John F. Canny,et al.  New lower bound techniques for robot motion planning problems , 1987, 28th Annual Symposium on Foundations of Computer Science (sfcs 1987).

[5]  A. Stoytchev Toward Learning the Binding Affordances of Objects : A Behavior-Grounded Approach , 2022 .

[6]  J. Brian Burns,et al.  Path planning using Laplace's equation , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[7]  Dana S. Nau,et al.  SHOP2: An HTN Planning System , 2003, J. Artif. Intell. Res..

[8]  Alex Pentland,et al.  Active gesture recognition using partially observable Markov decision processes , 1996, Proceedings of 13th International Conference on Pattern Recognition.

[9]  Stephen Hart,et al.  The development of hierarchical knowledge in robot systems , 2009 .

[10]  Hirokazu Kato,et al.  Marker tracking and HMD calibration for a video-based augmented reality conferencing system , 1999, Proceedings 2nd IEEE and ACM International Workshop on Augmented Reality (IWAR'99).

[11]  Liqiang Feng,et al.  Navigating Mobile Robots: Systems and Techniques , 1996 .

[12]  Jean-Claude Latombe,et al.  Integrating task and PRM motion planning : Dealing with many infeasible motion planning queries , 2009 .

[13]  James J. Kuffner,et al.  Multipartite RRTs for Rapid Replanning in Dynamic Environments , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[14]  Stephen Hart,et al.  Intrinsically motivated hierarchical manipulation , 2008, 2008 IEEE International Conference on Robotics and Automation.

[15]  Nicholas R. Jennings,et al.  Intelligent agents: theory and practice , 1995, The Knowledge Engineering Review.

[16]  Alessandro Saffiotti,et al.  A Multivalued Logic Approach to Integrating Planning and Control , 1995, Artif. Intell..

[17]  Stephen Hart,et al.  Learning Generalizable Control Programs , 2011, IEEE Transactions on Autonomous Mental Development.

[18]  Daniel E. Koditschek,et al.  Sequential Composition of Dynamically Dexterous Robot Behaviors , 1999, Int. J. Robotics Res..

[19]  J. Denzler,et al.  An Information Theoretic Approach to Optimal Sensor Data Selection for State Estimation , 2002 .

[20]  R. Shaw,et al.  Perceiving, Acting and Knowing : Toward an Ecological Psychology , 1978 .

[21]  Siddhartha S. Srinivasa,et al.  Manipulation planning on constraint manifolds , 2009, 2009 IEEE International Conference on Robotics and Automation.

[22]  Rachid Alami,et al.  A Hybrid Approach to Intricate Motion, Manipulation and Task Planning , 2009, Int. J. Robotics Res..

[23]  Gregory D. Hager,et al.  Sampling-Based Motion and Symbolic Action Planning with geometric and differential constraints , 2010, 2010 IEEE International Conference on Robotics and Automation.

[24]  Robert Platt,et al.  Nullspace composition of control laws for grasping , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[25]  Sebastian Thrun,et al.  Coastal Navigation with Mobile Robots , 1999, NIPS.

[26]  Roderic A. Grupen,et al.  Designing a Self-Stabilizing Robot for Dynamic Mobile Manipulation , 2006 .

[27]  James P. Ostrowski,et al.  Motion planning a aerial robot using rapidly-exploring random trees with dynamic constraints , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[28]  Rodney A. Brooks,et al.  Elephants don't play chess , 1990, Robotics Auton. Syst..

[29]  Robert Eidenberger,et al.  Active perception and scene modeling by planning with probabilistic 6D object poses , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[30]  Maya Cakmak,et al.  To Afford or Not to Afford: A New Formalization of Affordances Toward Affordance-Based Robot Control , 2007, Adapt. Behav..

[31]  Roderic A. Grupen,et al.  A control basis for multilegged walking , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[32]  Earl D. Sacerdoti,et al.  Planning in a Hierarchy of Abstraction Spaces , 1974, IJCAI.

[33]  Wolfram Burgard,et al.  Robust Monte Carlo localization for mobile robots , 2001, Artif. Intell..

[34]  Richard Bellman,et al.  Adaptive Control Processes - A Guided Tour (Reprint from 1961) , 2015, Princeton Legacy Library.

[35]  R. A. Brooks,et al.  Intelligence without Representation , 1991, Artif. Intell..

[36]  Leslie Pack Kaelbling,et al.  Grasping POMDPs , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[37]  Marc Toussaint,et al.  Approximate inference for planning in stochastic relational worlds , 2009, ICML '09.

[38]  John McCarthy,et al.  SOME PHILOSOPHICAL PROBLEMS FROM THE STANDPOINT OF ARTI CIAL INTELLIGENCE , 1987 .

[39]  J. Koenderink,et al.  The internal representation of solid shape with respect to vision , 1979, Biological Cybernetics.

[40]  Christopher W. Geib,et al.  Object Action Complexes as an Interface for Planning and Robot Control , 2006 .

[41]  Sebastian Thrun,et al.  Particle Filters in Robotics , 2002, UAI.

[42]  Masayuki Inaba,et al.  Motion Planning for Humanoid Robots , 2003, ISRR.

[43]  Peter Stone,et al.  Learning Predictive State Representations , 2003, ICML.

[44]  Bernt Schiele,et al.  Transinformation for active object recognition , 1998, Sixth International Conference on Computer Vision (IEEE Cat. No.98CH36271).

[45]  Frank P. Ferrie,et al.  Viewpoint selection by navigation through entropy maps , 1999, Proceedings of the Seventh IEEE International Conference on Computer Vision.

[46]  Vijay Kumar,et al.  Motion planning with uncertainty , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[47]  Leslie Pack Kaelbling,et al.  Task-Driven Tactile Exploration , 2010, Robotics: Science and Systems.

[48]  W. Eric L. Grimson,et al.  Handey: A robot system that recognizes, plans, and manipulates , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[49]  V. S. Subrahmanian,et al.  On the Complexity of Domain-Independent Planning , 1992, AAAI.

[50]  Maya Cakmak,et al.  Using learned affordances for robotic behavior development , 2008, 2008 IEEE International Conference on Robotics and Automation.

[51]  N. A. Bernstein Dexterity and Its Development , 1996 .

[52]  T. Yoshikawa,et al.  Task-Priority Based Redundancy Control of Robot Manipulators , 1987 .

[53]  Siddhartha S. Srinivasa,et al.  BiSpace Planning: Concurrent Multi-Space Exploration , 2008, Robotics: Science and Systems.

[54]  Jean-Paul Laumond,et al.  Algorithms for Robotic Motion and Manipulation , 1997 .

[55]  Russell H. Taylor,et al.  Automatic Synthesis of Fine-Motion Strategies for Robots , 1984 .

[56]  Joelle Pineau,et al.  Point-based value iteration: An anytime algorithm for POMDPs , 2003, IJCAI.

[57]  Morgan Quigley,et al.  ROS: an open-source Robot Operating System , 2009, ICRA 2009.

[58]  Stefan Edelkamp,et al.  Automated Planning: Theory and Practice , 2007, Künstliche Intell..

[59]  Leslie Pack Kaelbling,et al.  Pre-image Backchaining in Belief Space for Mobile Manipulation , 2011, ISRR.

[60]  Stuart J. Russell,et al.  Combined Task and Motion Planning for Mobile Manipulation , 2010, ICAPS.

[61]  David Chapman,et al.  Planning for Conjunctive Goals , 1987, Artif. Intell..

[62]  Leslie Pack Kaelbling,et al.  Hierarchical task and motion planning in the now , 2011, 2011 IEEE International Conference on Robotics and Automation.

[63]  W. Burgard,et al.  Markov Localization for Mobile Robots in Dynamic Environments , 1999, J. Artif. Intell. Res..

[64]  D. Koditschek,et al.  Robot navigation functions on manifolds with boundary , 1990 .

[65]  Steven M. LaValle,et al.  Planning algorithms , 2006 .

[66]  Oussama Khatib,et al.  Real-Time Obstacle Avoidance for Manipulators and Mobile Robots , 1985, Autonomous Robot Vehicles.

[67]  Erann Gat,et al.  Integrating Planning and Reacting in a Heterogeneous Asynchronous Architecture for Controlling Real-World Mobile Robots , 1992, AAAI.

[68]  Andrew G. Barto,et al.  Reinforcement learning , 1998 .

[69]  W H Warren,et al.  Perceiving affordances: visual guidance of stair climbing. , 1984, Journal of experimental psychology. Human perception and performance.

[70]  Lucas Paletta,et al.  Active Object Recognition in Parametric Eigenspace , 1998, BMVC.

[71]  Marc Toussaint,et al.  Relevance Grounding for Planning in Relational Domains , 2009, ECML/PKDD.

[72]  Nando de Freitas,et al.  Sequential Monte Carlo Methods in Practice , 2001, Statistics for Engineering and Information Science.

[73]  Jaesik Choi,et al.  Combining planning and motion planning , 2009, 2009 IEEE International Conference on Robotics and Automation.

[74]  Roderic A. Grupen,et al.  A control basis for learning multifingered grasps , 1997, J. Field Robotics.

[75]  Alexander Stoytchev,et al.  Behavior-Grounded Representation of Tool Affordances , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[76]  C. Michaels,et al.  To Cross or Not to Cross: The Effect of Locomotion on Street-Crossing Behavior , 1996 .

[77]  R. Nourbakhsh,et al.  Using Abstraction to Interleave Planning and Execution , 1997 .

[78]  Marc Toussaint,et al.  Integrated motor control, planning, grasping and high-level reasoning in a blocks world using probabilistic inference , 2010, 2010 IEEE International Conference on Robotics and Automation.

[79]  Nikos A. Vlassis,et al.  Perseus: Randomized Point-based Value Iteration for POMDPs , 2005, J. Artif. Intell. Res..

[80]  Richard S. Sutton,et al.  Predictive Representations of State , 2001, NIPS.

[81]  Danica Kragic,et al.  Task modeling in imitation learning using latent variable models , 2010, 2010 10th IEEE-RAS International Conference on Humanoid Robots.

[82]  Rodney A. Brooks,et al.  A Robust Layered Control Syste For A Mobile Robot , 2022 .

[83]  Paul A. Viola,et al.  Alignment by Maximization of Mutual Information , 1997, International Journal of Computer Vision.

[84]  Russ Tedrake,et al.  LQR-trees: Feedback motion planning on sparse randomized trees , 2009, Robotics: Science and Systems.

[85]  Richard Fikes,et al.  STRIPS: A New Approach to the Application of Theorem Proving to Problem Solving , 1971, IJCAI.

[86]  G. Swaminathan Robot Motion Planning , 2006 .

[87]  Marc Toussaint,et al.  Probabilistic inference for solving (PO) MDPs , 2006 .

[88]  Marc Toussaint,et al.  Probabilistic inference for structured planning in robotics , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[89]  L. Baum,et al.  A Maximization Technique Occurring in the Statistical Analysis of Probabilistic Functions of Markov Chains , 1970 .

[90]  Jun S. Liu,et al.  Sequential Monte Carlo methods for dynamic systems , 1997 .

[91]  Leslie Pack Kaelbling,et al.  Planning and Acting in Partially Observable Stochastic Domains , 1998, Artif. Intell..

[92]  Manuel Lopes,et al.  Modeling affordances using Bayesian networks , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[93]  E. J. Sondik,et al.  The Optimal Control of Partially Observable Markov Decision Processes. , 1971 .

[94]  Wolfram Burgard,et al.  Probabilistic Robotics (Intelligent Robotics and Autonomous Agents) , 2005 .

[95]  Yiming Ye,et al.  Sensor Planning for 3D Object Search , 1999 .

[96]  J. A. Coelho,et al.  Online grasp synthesis , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[97]  Roderic A. Grupen,et al.  Acquiring state from control dynamics to learn grasping policies for robot hands , 2002, Adv. Robotics.

[98]  Reid G. Simmons,et al.  Heuristic Search Value Iteration for POMDPs , 2004, UAI.

[99]  Stephen Hart,et al.  Natural task decomposition with intrinsic potential fields , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[100]  S. Thrun,et al.  Towards Dependable Perception : Guaranteed Inference for Global Localization , 2010 .

[101]  K. J. Orford,et al.  Entropy measures of multi-sensor fusion performance , 1996 .

[102]  Roderic A. Grupen,et al.  A hybrid architecture for adaptive robot control , 2000 .

[103]  Y. Maeda,et al.  Planning of graspless manipulation based on rapidly-exploring random trees , 2005, (ISATP 2005). The 6th IEEE International Symposium on Assembly and Task Planning: From Nano to Macro Assembly and Manufacturing, 2005..

[104]  Roderic A. Grupen,et al.  Learning to Coordinate Controllers - Reinforcement Learning on a Control Basis , 1997, IJCAI.

[105]  Eric Sommerlade,et al.  Information-theoretic active scene exploration , 2008, 2008 IEEE Conference on Computer Vision and Pattern Recognition.

[106]  Rachid Alami,et al.  Two manipulation planning algorithms , 1995 .

[107]  S. LaValle Rapidly-exploring random trees : a new tool for path planning , 1998 .

[108]  Nuttapong Chentanez,et al.  Intrinsically Motivated Learning of Hierarchical Collections of Skills , 2004 .

[109]  Joachim Hertzberg,et al.  Grounding planning operators by affordances , 2008 .

[110]  Ronald C. Arkin,et al.  Integrating behavioral, perceptual, and world knowledge in reactive navigation , 1990, Robotics Auton. Syst..

[111]  R. Simmons,et al.  Probabilistic Navigation in Partially Observable Environments , 1995 .

[112]  Giulio Sandini,et al.  Learning about objects through action - initial steps towards artificial cognition , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[113]  Richard Bellman,et al.  Adaptive Control Processes: A Guided Tour , 1961, The Mathematical Gazette.

[114]  Joelle Pineau,et al.  High-level robot behavior control using POMDPs , 2002 .

[115]  Nils J. Nilsson,et al.  Shakey the Robot , 1984 .

[116]  John W. Fisher,et al.  A Nonparametric Methodology for Information Theoretic Feature Extraction , 1998 .

[117]  Reid G. Simmons,et al.  Probabilistic Robot Navigation in Partially Observable Environments , 1995, IJCAI.