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arXiv · 2112.11199

Specifying and achieving goals in open uncertain robot-manipulation domains

Leslie Pack Kaelbling·Alex LaGrassa·Tomás Lozano-Pérez
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Abstract

This paper describes an integrated solution to the problem of describing and interpreting goals for robots in open uncertain domains. Given a formal specification of a desired situation, in which objects are described only by their properties, general-purpose planning and reasoning tools are used to derive appropriate actions for a robot. These goals are carried out through an online combination of hierarchical planning, state-estimation, and execution that operates robustly in real robot domains with substantial occlusion and sensing error.

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Leslie Pack Kaelbling, Alex LaGrassa, Tomás Lozano-Pérez. 2021-12-21. Specifying and achieving goals in open uncertain robot-manipulation domains. https://arxiv.org/abs/2112.11199

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