Papers Task Planning
“Task Planning” 태그가 달린 논문 344편 · 필터 해제
From Virtual to Real: A Framework for Verbal Interaction with Robots
A Natural Language Understanding (NLU) pipeline integrated with a 3D physics-based scene is a flexible way to develop and test language-based human-robot interaction, by virtualizing people, robot hardware and the target…
Natural Language UnderstandingObject RecognitionTask PlanningComposing Task-Agnostic Policies with Deep Reinforcement Learning
The composition of elementary behaviors to solve challenging transfer learning problems is one of the key elements in building intelligent machines. To date, there has been plenty of work on learning task-specific polici…
Decision MakingDeep Reinforcement LearningMotion Planningreinforcement-learning+4From Abstractions to Grounded Languages for Robust Coordination of Task Planning Robots
In this paper, we consider a first step to bridge a gap in coordinating task planning robots. Specifically, we study the automatic construction of languages that are maximally flexible while being sufficiently explicativ…
Multi-Agent Path FindingTask PlanningTask Planning with a Weighted Functional Object-Oriented Network
In reality, there is still much to be done for robots to be able to perform manipulation actions with full autonomy. Complicated manipulation tasks, such as cooking, may still require a person to perform some actions tha…
Robot Task PlanningTask PlanningVRKitchen: an Interactive 3D Virtual Environment for Task-oriented Learning
One of the main challenges of advancing task-oriented learning such as visual task planning and reinforcement learning is the lack of realistic and standardized environments for training and testing AI agents. Previously…
reinforcement-learningReinforcement LearningReinforcement Learning (RL)Task PlanningPhoto-Realistic Blocksworld Dataset
In this report, we introduce an artificial dataset generator for Photo-realistic Blocksworld domain. Blocksworld is one of the oldest high-level task planning domain that is well defined but contains sufficient complexit…
Task PlanningIntegrating Task-Motion Planning with Reinforcement Learning for Robust Decision Making in Mobile Robots
Task-motion planning (TMP) addresses the problem of efficiently generating executable and low-cost task plans in a discrete space such that the (initially unknown) action costs are determined by motion plans in a corresp…
Decision MakingMotion PlanningReinforcement LearningReinforcement Learning (RL)+2SPASS: Scientific Prominence Active Search System with Deep Image Captioning Network
Planetary exploration missions with Mars rovers are complicated, which generally require elaborated task planning by human experts, from the path to take to the images to capture. NASA has been using this process to acqu…
Image CaptioningTask PlanningNeural Task Planning with And-Or Graph Representations
This paper focuses on semantic task planning, i.e., predicting a sequence of actions toward accomplishing a specific task under a certain scene, which is a new problem in computer vision research. The primary challenges …
Common Sense ReasoningTask PlanningvalidDecentralized Task Allocation in Multi-Robot Systems via Bipartite Graph Matching Augmented with Fuzzy Clustering
Robotic systems, working together as a team, are becoming valuable players in different real-world applications, from disaster response to warehouse fulfillment services. Centralized solutions for coordinating multi-robo…
ClusteringDisaster ResponseGraph MatchingProblem Decomposition+2A Constraint-based Encoding for Domain-Independent Temporal Planning
We present a general constraint-based encoding for domain-independent task planning. Task planning is characterized by causal relationships expressed as conditions and effects of optional actions. Possible actions are ty…
SchedulingTask PlanningSMarTplan: a Task Planner for Smart Factories
Smart factories are on the verge of becoming the new industrial paradigm, wherein optimization permeates all aspects of production, from concept generation to sales. To fully pursue this paradigm, flexibility in the prod…
Task PlanningIdentifying Object States in Cooking-Related Images
Understanding object states is as important as object recognition for robotic task planning and manipulation. To our knowledge, this paper explicitly introduces and addresses the state identification problem in cooking r…
ObjectObject RecognitionTask PlanningTask Planning in Robotics: an Empirical Comparison of PDDL-based and ASP-based Systems
Robots need task planning algorithms to sequence actions toward accomplishing goals that are impossible through individual actions. Off-the-shelf task planners can be used by intelligent robotics practitioners to solve a…
Robot Task PlanningTask PlanningVisual Robot Task Planning
Prospection, the act of predicting the consequences of many possible futures, is intrinsic to human planning and action, and may even be at the root of consciousness. Surprisingly, this idea has been explored comparative…
Imitation LearningRobot Task PlanningTask PlanningPrecise but Natural Specification for Robot Tasks
We present Flipper, a natural language interface for describing high-level task specifications for robots that are compiled into robot actions. Flipper starts with a formal core language for task planning that allows exp…
Task PlanningGoal Inference Improves Objective and Perceived Performance in Human-Robot Collaboration
The study of human-robot interaction is fundamental to the design and use of robotics in real-world applications. Robots will need to predict and adapt to the actions of human collaborators in order to achieve good perfo…
Bayesian InferenceTask PlanningLearning to Imagine Manipulation Goals for Robot Task Planning
Prospection is an important part of how humans come up with new task plans, but has not been explored in depth in robotics. Predicting multiple task-level is a challenging problem that involves capturing both task semant…
Robot Task PlanningTask PlanningBalancing Explicability and Explanation in Human-Aware Planning
Human aware planning requires an agent to be aware of the intentions, capabilities and mental model of the human in the loop during its decision process. This can involve generating plans that are explicable to a human o…
Decision MakingExplanation GenerationTask PlanningActing Thoughts: Towards a Mobile Robotic Service Assistant for Users with Limited Communication Skills
As autonomous service robots become more affordable and thus available also for the general public, there is a growing need for user friendly interfaces to control the robotic system. Currently available control modaliti…
Brain Computer InterfaceTask Planning