Papers Task Planning
“Task Planning” 태그가 달린 논문 344편 · 필터 해제
The role of haptic communication in dyadic collaborative object manipulation tasks
Intuitive and efficient physical human-robot collaboration relies on the mutual observability of the human and the robot, i.e. the two entities being able to interpret each other's intentions and actions. This is remedie…
Task PlanningContext-Hierarchy Inverse Reinforcement Learning
An inverse reinforcement learning (IRL) agent learns to act intelligently by observing expert demonstrations and learning the expert's underlying reward function. Although learning the reward functions from demonstration…
Autonomous Drivingreinforcement-learningReinforcement LearningReinforcement Learning (RL)+1Transporters with Visual Foresight for Solving Unseen Rearrangement Tasks
Rearrangement tasks have been identified as a crucial challenge for intelligent robotic manipulation, but few methods allow for precise construction of unseen structures. We propose a visual foresight model for pick-and-…
Imitation LearningMulti-Task LearningTask PlanningBehavior Tree-Based Task Planning for Multiple Mobile Robots using a Data Distribution Service
In this study, we propose task planning framework for multiple robots that builds on a behavior tree (BT). BTs communicate with a data distribution service (DDS) to send and receive data. Since the standard BT derived fr…
Task PlanningTask planning and explanation with virtual actions
One of the challenges of task planning is to find out what causes the planning failure and how to handle the failure intelligently. This paper shows how to achieve this. The idea is inspired by the connected graph: each …
Task PlanningRelative velocity-based reward functions for crowd navigation of robots
The four-wheeled Mecanum robot is widely used in various industries due to its maneuverability and strong load capacity, which is suitable for performing precise transportation tasks in a narrow environment, but while th…
Electrical EngineeringTask PlanningHeuristic Search Planning with Deep Neural Networks using Imitation, Attention and Curriculum Learning
Learning a well-informed heuristic function for hard task planning domains is an elusive problem. Although there are known neural network architectures to represent such heuristic knowledge, it is not obvious what concre…
Heuristic SearchTask PlanningUnderstanding Multimodal Procedural Knowledge by Sequencing Multimodal Instructional Manuals
The ability to sequence unordered events is evidence of comprehension and reasoning about real world tasks/procedures, and is essential for applications such as task planning and multi-source instruction summarization. I…
Common Sense ReasoningOpen-Ended Question AnsweringTask PlanningUnderstanding Multimodal Procedural Knowledge by Sequencing Multimodal Instructional Manuals
The ability to sequence unordered events is an essential skill to comprehend and reason about real world task procedures, which often requires thorough understanding of temporal common sense and multimodal information, a…
Common Sense ReasoningOpen-Ended Question AnsweringTask PlanningUsing Human-Guided Causal Knowledge for More Generalized Robot Task Planning
A major challenge in research involving artificial intelligence (AI) is the development of algorithms that can find solutions to problems that can generalize to different environments and tasks. Unlike AI, humans are ade…
Robot Task PlanningTask PlanningComparing Reconstruction- and Contrastive-based Models for Visual Task Planning
Learning state representations enables robotic planning directly from raw observations such as images. Most methods learn state representations by utilizing losses based on the reconstruction of the raw observations from…
Representation LearningTask PlanningSORNet: Spatial Object-Centric Representations for Sequential Manipulation
Sequential manipulation tasks require a robot to perceive the state of an environment and plan a sequence of actions leading to a desired goal state. In such tasks, the ability to reason about spatial relations among obj…
ObjectRelation ClassificationRepresentation LearningSpatial Reasoning+1Task and Situation Structures for Service Agent Planning
Everyday tasks are characterized by their varieties and variations, and frequently are not clearly specified to service agents. This paper presents a comprehensive approach to enable a service agent to deal with everyday…
Task PlanningPlanSys2: A Planning System Framework for ROS2
Autonomous robots need to plan the tasks they carry out to fulfill their missions. The missions' increasing complexity does not let human designers anticipate all the possible situations, so traditional control systems b…
Task PlanningA Road-map to Robot Task Execution with the Functional Object-Oriented Network
Following work on joint object-action representations, the functional object-oriented network (FOON) was introduced as a knowledge graph representation for robots. Taking the form of a bipartite graph, a FOON contains sy…
Task PlanningEvaluating Recipes Generated from Functional Object-Oriented Network
The functional object-oriented network (FOON) has been introduced as a knowledge representation, which takes the form of a graph, for symbolic task planning. To get a sequential plan for a manipulation task, a robot can …
FormObjectRetrievalTask PlanningMPTP: Motion-Planning-aware Task Planning for Navigation in Belief Space
We present an integrated Task-Motion Planning (TMP) framework for navigation in large-scale environments. Of late, TMP for manipulation has attracted significant interest resulting in a proliferation of different approac…
Motion PlanningNavigateTask PlanningKnowledge-Based Hierarchical POMDPs for Task Planning
The main goal in task planning is to build a sequence of actions that takes an agent from an initial state to a goal state. In robotics, this is particularly difficult because actions usually have several possible result…
Task PlanningExtended Tree Search for Robot Task and Motion Planning
Integrated task and motion planning (TAMP) is desirable for generalized autonomy robots but it is challenging at the same time. TAMP requires the planner to not only search in both the large symbolic task space and the h…
Decision MakingMotion PlanningTask and Motion PlanningTask PlanningEnabling Visual Action Planning for Object Manipulation through Latent Space Roadmap
We present a framework for visual action planning of complex manipulation tasks with high-dimensional state spaces, focusing on manipulation of deformable objects. We propose a Latent Space Roadmap (LSR) for task plannin…
Task Planning