An Behavior-based Robotics
Automatic Discovery of Subgoals in Reinforcement Learning using Diverse Density
ICML '01 Proceedings of the Eighteenth International Conference on Machine Learning
Using Abstract Models of Behaviours to Automatically Generate Reinforcement Learning Hierarchies
ICML '02 Proceedings of the Nineteenth International Conference on Machine Learning
PolicyBlocks: An Algorithm for Creating Useful Macro-Actions in Reinforcement Learning
ICML '02 Proceedings of the Nineteenth International Conference on Machine Learning
State abstraction for programmable reinforcement learning agents
Eighteenth national conference on Artificial intelligence
Experiences with a mobile robotic guide for the elderly
Eighteenth national conference on Artificial intelligence
Hierarchical reinforcement learning with the MAXQ value function decomposition
Journal of Artificial Intelligence Research
Reinforcement learning: a survey
Journal of Artificial Intelligence Research
Planning and acting in partially observable stochastic domains
Artificial Intelligence
Model minimization in Markov decision processes
AAAI'97/IAAI'97 Proceedings of the fourteenth national conference on artificial intelligence and ninth conference on Innovative applications of artificial intelligence
UAI'97 Proceedings of the Thirteenth conference on Uncertainty in artificial intelligence
On the relationship between MDPs and the BDI architecture
AAMAS '06 Proceedings of the fifth international joint conference on Autonomous agents and multiagent systems
Exploiting symmetries in POMDPs for point-based algorithms
AAAI'08 Proceedings of the 23rd national conference on Artificial intelligence - Volume 2
Finding approximate POMDP solutions through belief compression
Journal of Artificial Intelligence Research
Topological order planner for POMDPs
IJCAI'09 Proceedings of the 21st international jont conference on Artifical intelligence
A probabilistic particle-control approximation of chance-constrained stochastic predictive control
IEEE Transactions on Robotics
Motion planning under uncertainty for robotic tasks with long time horizons
International Journal of Robotics Research
Efficient planning under uncertainty with macro-actions
Journal of Artificial Intelligence Research
Solving hybrid markov decision processes
MICAI'06 Proceedings of the 5th Mexican international conference on Artificial Intelligence
Exploiting symmetries for single- and multi-agent Partially Observable Stochastic Domains
Artificial Intelligence
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This paper presents a scalable control algorithm that enables a deployed mobile robot to make high-level control decisions under full consideration of its probabilistic belief. We draw on insights from the rich literature of structured robot controllers and hierarchical MDPs to propose PolCA, a hierarchical probabilistic control algorithm which learns both subtask-specific state abstractions and policies. The resulting controller has been successfully implemented onboard a mobile robotic assistant deployed in a nursing facility. To the best of our knowledge, this work is a unique instance of applying POMDPs to highlevel robotic control problems.