Foresight and reconsideration in hierarchical planning and execution
We present a hierarchical planning and execution architecture that maintains the computational efficiency of hierarchical decomposition while improving optimality. It provides mechanisms for monitoring the belief state during execution and performing selective replanning to repair poor choices and t...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
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Institute of Electrical and Electronics Engineers (IEEE)
2014
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| Online Access: | http://hdl.handle.net/1721.1/90271 https://orcid.org/0000-0002-8657-2450 https://orcid.org/0000-0001-6054-7145 |
| _version_ | 1826207537800675328 |
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| author | Levihn, Martin Stilman, Mike Kaelbling, Leslie P. Lozano-Perez, Tomas |
| author2 | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory |
| author_facet | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Levihn, Martin Stilman, Mike Kaelbling, Leslie P. Lozano-Perez, Tomas |
| author_sort | Levihn, Martin |
| collection | MIT |
| description | We present a hierarchical planning and execution architecture that maintains the computational efficiency of hierarchical decomposition while improving optimality. It provides mechanisms for monitoring the belief state during execution and performing selective replanning to repair poor choices and take advantage of new opportunities. It also provides mechanisms for looking ahead into future plans to avoid making short-sighted choices. The effectiveness of this architecture is shown through comparative experiments in simulation and demonstrated on a real PR2 robot. |
| first_indexed | 2024-09-23T13:51:06Z |
| format | Article |
| id | mit-1721.1/90271 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T13:51:06Z |
| publishDate | 2014 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/902712022-09-28T16:36:53Z Foresight and reconsideration in hierarchical planning and execution Levihn, Martin Stilman, Mike Kaelbling, Leslie P. Lozano-Perez, Tomas Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Kaelbling, Leslie P. Lozano-Perez, Tomas We present a hierarchical planning and execution architecture that maintains the computational efficiency of hierarchical decomposition while improving optimality. It provides mechanisms for monitoring the belief state during execution and performing selective replanning to repair poor choices and take advantage of new opportunities. It also provides mechanisms for looking ahead into future plans to avoid making short-sighted choices. The effectiveness of this architecture is shown through comparative experiments in simulation and demonstrated on a real PR2 robot. National Science Foundation (U.S.) (Grant IIS-1117325) National Science Foundation (U.S.) (Grant IIS-1017076) United States. Office of Naval Research (Grant N00014-12-1-0143) United States. Office of Naval Research. Multidisciplinary University Research Initiative (Grant N00014-09-1-1051) United States. Air Force Office of Scientific Research (Grant FA2386-10-1-4135) 2014-09-22T18:50:46Z 2014-09-22T18:50:46Z 2013-11 Article http://purl.org/eprint/type/ConferencePaper 978-1-4673-6358-7 978-1-4673-6357-0 http://hdl.handle.net/1721.1/90271 Levihn, Martin, Leslie Pack Kaelbling, Tomas Lozano-Perez, and Mike Stilman. “Foresight and Reconsideration in Hierarchical Planning and Execution.” 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (November 2013). https://orcid.org/0000-0002-8657-2450 https://orcid.org/0000-0001-6054-7145 en_US http://dx.doi.org/10.1109/IROS.2013.6696357 Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Institute of Electrical and Electronics Engineers (IEEE) MIT web domain |
| spellingShingle | Levihn, Martin Stilman, Mike Kaelbling, Leslie P. Lozano-Perez, Tomas Foresight and reconsideration in hierarchical planning and execution |
| title | Foresight and reconsideration in hierarchical planning and execution |
| title_full | Foresight and reconsideration in hierarchical planning and execution |
| title_fullStr | Foresight and reconsideration in hierarchical planning and execution |
| title_full_unstemmed | Foresight and reconsideration in hierarchical planning and execution |
| title_short | Foresight and reconsideration in hierarchical planning and execution |
| title_sort | foresight and reconsideration in hierarchical planning and execution |
| url | http://hdl.handle.net/1721.1/90271 https://orcid.org/0000-0002-8657-2450 https://orcid.org/0000-0001-6054-7145 |
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