Pre-image Backchaining in Belief Space for Mobile Manipulation
© Springer International Publishing Switzerland 2017. There have been several recent approaches to planning and control in uncertain domains, based on online planning in a determinized approximation of the belief-space dynamics, and replanning when the actual belief state diverges from the predicted...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
Springer International Publishing
2021
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| Online Access: | https://hdl.handle.net/1721.1/137694 |
| _version_ | 1826192749420871680 |
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| author | Kaelbling, Leslie Pack Lozano-Pérez, Tomás |
| author2 | Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science |
| author_facet | Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Kaelbling, Leslie Pack Lozano-Pérez, Tomás |
| author_sort | Kaelbling, Leslie Pack |
| collection | MIT |
| description | © Springer International Publishing Switzerland 2017. There have been several recent approaches to planning and control in uncertain domains, based on online planning in a determinized approximation of the belief-space dynamics, and replanning when the actual belief state diverges from the predicted one. In this work, we extend this approach to planning for mobile manipulation tasks with very long horizons, using a hierarchical combination of logical and geometric representations. We present a novel approach to belief-space preimage backchaining with logical representations, an efficient method for on-line execution monitoring and replanning, and preliminary results on mobile manipulation tasks. |
| first_indexed | 2024-09-23T09:28:37Z |
| format | Article |
| id | mit-1721.1/137694 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T09:28:37Z |
| publishDate | 2021 |
| publisher | Springer International Publishing |
| record_format | dspace |
| spelling | mit-1721.1/1376942023-02-01T16:48:50Z Pre-image Backchaining in Belief Space for Mobile Manipulation Kaelbling, Leslie Pack Lozano-Pérez, Tomás Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory © Springer International Publishing Switzerland 2017. There have been several recent approaches to planning and control in uncertain domains, based on online planning in a determinized approximation of the belief-space dynamics, and replanning when the actual belief state diverges from the predicted one. In this work, we extend this approach to planning for mobile manipulation tasks with very long horizons, using a hierarchical combination of logical and geometric representations. We present a novel approach to belief-space preimage backchaining with logical representations, an efficient method for on-line execution monitoring and replanning, and preliminary results on mobile manipulation tasks. 2021-11-08T16:07:04Z 2021-11-08T16:07:04Z 2016-08-26 2019-06-04T14:48:42Z Article http://purl.org/eprint/type/ConferencePaper 1610-7438 1610-742X https://hdl.handle.net/1721.1/137694 Kaelbling, Leslie Pack and Lozano-Pérez, Tomás. 2016. "Pre-image Backchaining in Belief Space for Mobile Manipulation." en 10.1007/978-3-319-29363-9_22 Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Springer International Publishing MIT web domain |
| spellingShingle | Kaelbling, Leslie Pack Lozano-Pérez, Tomás Pre-image Backchaining in Belief Space for Mobile Manipulation |
| title | Pre-image Backchaining in Belief Space for Mobile Manipulation |
| title_full | Pre-image Backchaining in Belief Space for Mobile Manipulation |
| title_fullStr | Pre-image Backchaining in Belief Space for Mobile Manipulation |
| title_full_unstemmed | Pre-image Backchaining in Belief Space for Mobile Manipulation |
| title_short | Pre-image Backchaining in Belief Space for Mobile Manipulation |
| title_sort | pre image backchaining in belief space for mobile manipulation |
| url | https://hdl.handle.net/1721.1/137694 |
| work_keys_str_mv | AT kaelblinglesliepack preimagebackchaininginbeliefspaceformobilemanipulation AT lozanopereztomas preimagebackchaininginbeliefspaceformobilemanipulation |