NDLI: From Low-Level Trajectory Demonstrations to Symbolic Actions for Planning

Please wait, while we are loading the content...

From Low-Level Trajectory Demonstrations to Symbolic Actions for Planning

Content Provider	Semantic Scholar
Author	Abdo, Nichola Kretzschmar, Henrik Stachniss, Cyrill
Copyright Year	2012
Abstract	Robots that should solve complex manipulation tasks need to reason about their actions on a symbolic level to compute plans comprising sequences of actions. Planning, however, requires knowledge about the preconditions and effects of all the actions. In this work, we present an approach that allows a robot to learn manipulation skills from teacher demonstrations. Our approach enables the robot to learn to physically execute the motion needed to perform the actions, and, most importantly, to infer the preconditions and effects. Our system can express the acquired manipulation action as symbolic planning operators and thus can use any modern planner to solve tasks that are more complex than the individual, demonstrated actions. We implemented our approach on a PR2 robot and present real world manipulation experiments that illustrate that our system allows non-experts to transfer knowledge to robots.
File Format	PDF HTM / HTML
Alternate Webpage(s)	http://www.informatik.uni-freiburg.de/~kretzsch/pdf/abdo12tampra.pdf
Alternate Webpage(s)	http://www.first-mm.eu/files/abdo12tampra.pdf
Alternate Webpage(s)	http://www.informatik.uni-freiburg.de/~stachnis/pdf/abdo12tampra.pdf
Alternate Webpage(s)	http://ais.informatik.uni-freiburg.de/publications/papers/abdo12tampra.pdf
Alternate Webpage(s)	http://www2.informatik.uni-freiburg.de/~stachnis/pdf/abdo12tampra.pdf
Language	English
Access Restriction	Open
Content Type	Text
Resource Type	Article

Central Library (ISO-9001:2015 Certified)
Indian Institute of Technology Kharagpur
Kharagpur, West Bengal, India | PIN - 721302

See location in the Map
03222 282435
Mail: support@ndl.gov.in

Sl.	Authority	Responsibilities	Communication Details
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in