NDLI: Experience-Based Planning Domains: an Integrated Learning and Deliberation Approach for Intelligent Robots : Robot Task Learning from Human Instructions

Content Provider	Springer Nature Link
Author	Mokhtari, Vahid Seabra Lopes, Luís Pinho, Armando J.
Copyright Year	2016
Abstract	Deliberation and learning are required to endow a robot with the capabilities for acquiring knowledge, performing a variety of tasks and interactions, and adapting to open-ended environments. This paper presents the notion of experience-based planning domains (EBPDs) for task level learning and planning in robotics. EBPDs provide methods for a robot to: (i) obtain robot activity experiences from the robot’s performance in a dynamic environment; (ii) conceptualize each experience producing an activity schema; and (iii) exploit the learned activity schemata to make plans in similar situations. Experiences are episodic descriptions of plan-based robot activities including environment perception, sequences of applied actions and achieved tasks. The conceptualization approach integrates different techniques including deductive generalization, abstraction, goal inference and feature extraction. A high-level task planner was developed to find a solution for a task by following an activity schema. The proposed approach is illustrated and evaluated in a restaurant environment where a service robot learns how to carry out complex tasks.
Starting Page	463
Ending Page	483
Page Count	21
File Format	PDF
ISSN	09210296
Journal	Journal of Intelligent & Robotic Systems
Volume Number	83
Issue Number	3-4
e-ISSN	15730409
Language	English
Publisher	Springer Netherlands
Publisher Date	2016-04-26
Publisher Place	Dordrecht
Access Restriction	Subscribed
Subject Keyword	Robot task learning Task planning Experience-based planning domains Conceptualization Learning from human instructions Control, Robotics, Mechatronics Electrical Engineering Artificial Intelligence (incl. Robotics) Mechanical Engineering
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Artificial Intelligence Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Software

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