Papers Task Planning
“Task Planning” 태그가 달린 논문 344편 · 필터 해제
Entropy Rate Maximization of Markov Decision Processes under Linear Temporal Logic Tasks
We investigate the problem of synthesizing optimal control policies for Markov decision processes (MDPs) with both qualitative and quantitative objectives. Specifically, our goal is to achieve a given linear temporal log…
Robot Task PlanningTask PlanningYou Don't Know When I Will Arrive: Unpredictable Controller Synthesis for Temporal Logic Tasks
In this paper, we investigate the problem of synthesizing controllers for temporal logic specifications under security constraint. We assume that there exists a passive intruder (eavesdropper) that can partially observe …
Robot Task PlanningTask PlanningExtracting task trees using knowledge retrieval search algorithms in functional object-oriented network
The functional object-oriented network (FOON) has been developed as a knowledge representation method that can be used by robots in order to perform task planning. A FOON can be observed as a graph that can provide an or…
RetrievalTask PlanningKnowledge Retrieval for Robotic Cooking
Search algorithms are applied where data retrieval with specified specifications is required. The motivation behind developing search algorithms in Functional Object-Oriented Networks is that most of the time, a certain …
RetrievalTask PlanningKnowledge Retrieval using Functional Object-Oriented Network
Robots can complete all human-performed tasks, but due to their current lack of knowledge, some tasks still cannot be completed by them with a high degree of success. However, with the right knowledge, these tasks can be…
ObjectRetrievalTask PlanningKnowledge Retrieval using Foon
Flexible task planning is still a significant challenge for robots. The inability of robots to creatively adapt their task plans to new or unforeseen challenges is largely attributable to their limited understanding of t…
RetrievalTask PlanningLEAGUE: Guided Skill Learning and Abstraction for Long-Horizon Manipulation
To assist with everyday human activities, robots must solve complex long-horizon tasks and generalize to new settings. Recent deep reinforcement learning (RL) methods show promise in fully autonomous learning, but they s…
Deep Reinforcement LearningMotion PlanningReinforcement Learning (RL)Task and Motion Planning+1Learning Action Duration and Synergy in Task Planning for Human-Robot Collaboration
A good estimation of the actions' cost is key in task planning for human-robot collaboration. The duration of an action depends on agents' capabilities and the correlation between actions performed simultaneously by the …
Task PlanningRobust Planning for Human-Robot Joint Tasks with Explicit Reasoning on Human Mental State
We consider the human-aware task planning problem where a human-robot team is given a shared task with a known objective to achieve. Recent approaches tackle it by modeling it as a team of independent, rational agents, w…
Task PlanningRobot Task Planning and Situation Handling in Open Worlds
Automated task planning algorithms have been developed to help robots complete complex tasks that require multiple actions. Most of those algorithms have been developed for "closed worlds" assuming complete world knowled…
Common Sense ReasoningRobot Task PlanningTask PlanningWorld KnowledgeProgPrompt: Generating Situated Robot Task Plans using Large Language Models
Task planning can require defining myriad domain knowledge about the world in which a robot needs to act. To ameliorate that effort, large language models (LLMs) can be used to score potential next actions during task pl…
Task PlanningOpen-vocabulary Queryable Scene Representations for Real World Planning
Large language models (LLMs) have unlocked new capabilities of task planning from human instructions. However, prior attempts to apply LLMs to real-world robotic tasks are limited by the lack of grounding in the surround…
Task PlanningGRILLBot: A multi-modal conversational agent for complex real-world tasks
We present GRILLBot, an open-source multi-modal task-oriented voice assistant to help users perform complex tasks, focusing on the domains of cooking and home improvement. GRILLBot curates and leverages web information e…
ManagementNavigateQuestion AnsweringTask PlanningMultimedia Generative Script Learning for Task Planning
Goal-oriented generative script learning aims to generate subsequent steps to reach a particular goal, which is an essential task to assist robots or humans in performing stereotypical activities. An important aspect of …
Contrastive LearningDecoderDescriptiveDiversity+4Toward Efficient Task Planning for Dual-Arm Tabletop Object Rearrangement
We investigate the problem of coordinating two robot arms to solve non-monotone tabletop multi-object rearrangement tasks. In a non-monotone rearrangement task, complex object-object dependencies exist that require movin…
ObjectObject RearrangementSchedulingTask PlanningLong-Horizon Planning and Execution with Functional Object-Oriented Networks
Following work on joint object-action representations, functional object-oriented networks (FOON) were introduced as a knowledge graph representation for robots. A FOON contains symbolic concepts useful to a robot's unde…
Motion PlanningObjectRetrievalTask PlanningTASKOGRAPHY: Evaluating robot task planning over large 3D scene graphs
3D scene graphs (3DSGs) are an emerging description; unifying symbolic, topological, and metric scene representations. However, typical 3DSGs contain hundreds of objects and symbols even for small environments; rendering…
BenchmarkingRepresentation LearningRobot Task PlanningTask PlanningSequential Manipulation Planning on Scene Graph
We devise a 3D scene graph representation, contact graph+ (cg+), for efficient sequential task planning. Augmented with predicate-like attributes, this contact graph-based representation abstracts scene layouts with succ…
Object RearrangementStochastic OptimizationTask PlanningvalidPlanning and Control of Multi-Robot-Object Systems under Temporal Logic Tasks and Uncertain Dynamics
We develop an algorithm for the motion and task planning of a system comprised of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constraints. The robots and objects evolve sub…
Robot NavigationTask PlanningCopiloting Autonomous Multi-Robot Missions: A Game-inspired Supervisory Control Interface
Real-world deployment of new technology and capabilities can be daunting. The recent DARPA Subterranean (SubT) Challenge, for instance, aimed at the advancement of robotic platforms and autonomy capabilities in three one…
Task Planning