NDLI: Integrated motor control, planning, grasping and high-level reasoning in a blocks world using probabilistic inference

Content Provider	IEEE Xplore Digital Library
Author	Toussaint, M. Plath, N. Lang, T. Jetchev, N.
Copyright Year	2010
Description	Author affiliation: TU Berlin, Machine Learning and Robotics Group, Franklinstraße 28/29, 10587, Germany (Toussaint, M.; Plath, N.; Lang, T.; Jetchev, N.)
Abstract	A new approach to planning and goal-directed behavior has recently been proposed using probabilistic inference in a graphical model that represents states, actions, constraints and goals of the future to infer appropriate actions and controls. The approach has led to new algorithms on the control and trajectory optimization level as well as for high-level rule-based planning in relational domains. In this paper we integrate these methods to a coherent control, trajectory optimization, and action planning architecture, using the principle of planning by inference across all levels of abstractions. Our scenario is a real blocks world: using a 14DoF Schunk arm and hand with tactile sensors and a stereo camera, the goal is to manipulate a set of objects on the table in a goal-oriented way. For high-level reasoning, we learn relational rule-based models from experience in simulation.
Starting Page	385
Ending Page	391
File Size	658415
Page Count	7
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509831
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Motor drives Robot sensing systems Graphical models Trajectory Inference algorithms Tactile sensors Robot vision systems Cameras Decision making Information processing
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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