TY - GEN
T1 - Using classical planners for tasks with continuous operators in robotics
AU - Srivastava, Siddharth
AU - Riano, Lorenzo
AU - Russell, Stuart
AU - Abbeel, Pieter
N1 - Copyright:
Copyright 2014 Elsevier B.V., All rights reserved.
PY - 2013
Y1 - 2013
N2 - The need for high-level task planning in robotics is well understood. However, interfacing discrete planning with continuous actions often requires extensive engineering of the solution. For instance, picking up an object may require removing many others that obstruct it. Identifying the exact obstructions requires geometric reasoning which is prohibitively expensive to precompute, with results that are difficult to represent efficiently at the level of a discrete planner. We propose a new approach that utilizes representation techniques from first-order logic and provides a method for synchronizing between continuous and discrete planning layers. We evaluate the approach and illustrate its robustness through a number of experiments using a state-of-the-art robotics simulator, accomplishing a variety of challenging tasks like picking objects from cluttered environments, where the planner needs to figure out which other objects need to be moved first to be able to reach the target object, and laying out a table for dinner, where the planner figures out effective tray-loading, navigation and unloading strategies.
AB - The need for high-level task planning in robotics is well understood. However, interfacing discrete planning with continuous actions often requires extensive engineering of the solution. For instance, picking up an object may require removing many others that obstruct it. Identifying the exact obstructions requires geometric reasoning which is prohibitively expensive to precompute, with results that are difficult to represent efficiently at the level of a discrete planner. We propose a new approach that utilizes representation techniques from first-order logic and provides a method for synchronizing between continuous and discrete planning layers. We evaluate the approach and illustrate its robustness through a number of experiments using a state-of-the-art robotics simulator, accomplishing a variety of challenging tasks like picking objects from cluttered environments, where the planner needs to figure out which other objects need to be moved first to be able to reach the target object, and laying out a table for dinner, where the planner figures out effective tray-loading, navigation and unloading strategies.
UR - http://www.scopus.com/inward/record.url?scp=84898879871&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84898879871&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84898879871
SN - 9781577356219
T3 - AAAI Workshop - Technical Report
SP - 85
EP - 91
BT - Intelligent Robotic Systems - Papers from the 2013 AAAI Workshop, Technical Report
PB - AI Access Foundation
T2 - 2013 AAAI Workshop
Y2 - 14 July 2013 through 15 July 2013
ER -