Declarative goals in reactive plans
Proceedings of the first international conference on Artificial intelligence planning systems
Structured Reactive Controllers
Autonomous Agents and Multi-Agent Systems
Machine Learning
Introduction to Statistical Relational Learning (Adaptive Computation and Machine Learning)
Introduction to Statistical Relational Learning (Adaptive Computation and Machine Learning)
Extending Markov Logic to Model Probability Distributions in Relational Domains
KI '07 Proceedings of the 30th annual German conference on Advances in Artificial Intelligence
Accurate Human Motion Capture Using an Ergonomics-Based Anthropometric Human Model
AMDO '08 Proceedings of the 5th international conference on Articulated Motion and Deformable Objects
Towards 3D Point cloud based object maps for household environments
Robotics and Autonomous Systems
Mixed deterministic and probabilistic networks
Annals of Mathematics and Artificial Intelligence
Sound and efficient inference with probabilistic and deterministic dependencies
AAAI'06 Proceedings of the 21st national conference on Artificial intelligence - Volume 1
Modelling mixed discrete-continuous domains for planning
Journal of Artificial Intelligence Research
Generality and legibility in mobile manipulation
Autonomous Robots
3D model selection from an internet database for robotic vision
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Equipping robot control programs with first-order probabilistic reasoning capabilities
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
KNOWROB: knowledge processing for autonomous personal robots
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Interactive imitation learning of object movement skills
Autonomous Robots
Automatically composing and parameterizing skills by evolving Finite State Automata
Robotics and Autonomous Systems
Johnny: An Autonomous Service Robot for Domestic Environments
Journal of Intelligent and Robotic Systems
Caesar: an intelligent domestic service robot
Intelligent Service Robotics
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This article investigates fundamental issues in scaling autonomous personal robots towards open-ended sets of everyday manipulation tasks which involve high complexity and vague job specifications. To achieve this, we propose a control architecture that synergetically integrates some of the most promising artificial intelligence (AI) methods that we consider as necessary for the performance of everyday manipulation tasks in human living environments: deep representations, probabilistic first-order learning and reasoning, and transformational planning of reactive behavior - all of which are integrated in a coherent high-level robot control system: Cogito. We demonstrate the strengths of this combination of methods by realizing, as a proof of concept, an autonomous personal robot capable of setting a table efficiently using instructions from the world wide web. To do so, the robot translates instructions into executable robot plans, debugs its plan to eliminate behavior flaws caused by missing pieces of information and ambiguities in the instructions, optimizes its plan by revising the course of activity, and infers the most likely job from vague job description using probabilistic reasoning.