Planning and control
Artificial intelligence: a modern approach
Artificial intelligence: a modern approach
RoboCup: The Robot World Cup Initiative
AGENTS '97 Proceedings of the first international conference on Autonomous agents
Multiple paired forward-inverse models for human motor learning and control
Proceedings of the 1998 conference on Advances in neural information processing systems II
An Behavior-based Robotics
Genetic Algorithms in Search, Optimization and Machine Learning
Genetic Algorithms in Search, Optimization and Machine Learning
Recent Advances in Hierarchical Reinforcement Learning
Discrete Event Dynamic Systems
Structured Reactive Controllers
Autonomous Agents and Multi-Agent Systems
Real Time Responsive Animation with Personality
IEEE Transactions on Visualization and Computer Graphics
RL-TOPS: An Architecture for Modularity and Re-Use in Reinforcement Learning
ICML '98 Proceedings of the Fifteenth International Conference on Machine Learning
Elastic Strips: A Framework for Integrated Planning and Execution
The Sixth International Symposium on Experimental Robotics VI
Reliable Multi-robot Coordination Using Minimal Communication and Neural Prediction
Revised Papers from the International Seminar on Advances in Plan-Based Control of Robotic Agents,
Flexible automatic motion blending with registration curves
Proceedings of the 2003 ACM SIGGRAPH/Eurographics symposium on Computer animation
Situation-dependent learning for interleaved planning and robot execution
Situation-dependent learning for interleaved planning and robot execution
Bridging the gap between planning and scheduling
The Knowledge Engineering Review
Frequency space representation and transitions of quadruped robot gaits
ACSC '04 Proceedings of the 27th Australasian conference on Computer science - Volume 26
MOSAIC Model for Sensorimotor Learning and Control
Neural Computation
Robot introspection through learned hidden Markov models
Artificial Intelligence
Data Mining: Practical Machine Learning Tools and Techniques, Second Edition (Morgan Kaufmann Series in Data Management Systems)
Stanley: The robot that won the DARPA Grand Challenge: Research Articles
Journal of Robotic Systems - Special Issue on the DARPA Grand Challenge, Part 2
Learning Local Objective Functions for Robust Face Model Fitting
IEEE Transactions on Pattern Analysis and Machine Intelligence
Learning Behaviors Models for Robot Execution Control
Proceedings of the 2006 conference on ECAI 2006: 17th European Conference on Artificial Intelligence August 29 -- September 1, 2006, Riva del Garda, Italy
Learning partially observable action schemas
AAAI'06 Proceedings of the 21st national conference on Artificial intelligence - Volume 1
Hierarchical reinforcement learning with the MAXQ value function decomposition
Journal of Artificial Intelligence Research
PDDL2.1: an extension to PDDL for expressing temporal planning domains
Journal of Artificial Intelligence Research
VHPOP: versatile heuristic partial order planner
Journal of Artificial Intelligence Research
Abstract reasoning for planning and coordination
Journal of Artificial Intelligence Research
Perceptual anchoring of symbols for action
IJCAI'01 Proceedings of the 17th international joint conference on Artificial intelligence - Volume 1
Optimized execution of action chains using learned performance models of abstract actions
IJCAI'05 Proceedings of the 19th international joint conference on Artificial intelligence
Learning forward models for robots
IJCAI'05 Proceedings of the 19th international joint conference on Artificial intelligence
Concurrent reactive plans: anticipating and forestalling execution failures
Concurrent reactive plans: anticipating and forestalling execution failures
Learning situation dependent success rates of actions in a RoboCup scenario
PRICAI'00 Proceedings of the 6th Pacific Rim international conference on Artificial intelligence
Generality and legibility in mobile manipulation
Autonomous Robots
Action-related place-based mobile manipulation
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Obstacle avoidance in a pick-and-place task
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Automatically composing and parameterizing skills by evolving Finite State Automata
Robotics and Autonomous Systems
Learning and reasoning with action-related places for robust mobile manipulation
Journal of Artificial Intelligence Research
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Robots reason about abstract actions, such as go to position 'l', in order to decide what to do or to generate plans for their intended course of action. The use of abstract actions enables robots to employ small action libraries, which reduces the search space for decision making. When executing the actions, however, the robot must tailor the abstract actions to the specific task and situation context at hand. In this article we propose a novel robot action execution system that learns success and performance models for possible specializations of abstract actions. At execution time, the robot uses these models to optimize the execution of abstract actions to the respective task contexts. The robot can so use abstract actions for efficient reasoning, without compromising the performance of action execution. We show the impact of our action execution model in three robotic domains and on two kinds of action execution problems: (1) the instantiation of free action parameters to optimize the expected performance of action sequences; (2) the automatic introduction of additional subgoals to make action sequences more reliable.