Bauer, Adrian Simon und Schmaus, Peter und Stulp, Freek und Leidner, Daniel (2020) Probabilistic Effect Prediction through Semantic Augmentation and Physical Simulation. In: 2019 International Conference on Robotics and Automation, ICRA 2019, Seiten 9278-9284. IEEE. IEEE International Conference on Robotics and Automation (ICRA), 2020-05-31 - 2020-08-31, Paris, France. doi: 10.1109/ICRA40945.2020.9197477. ISBN 978-153866026-3. ISSN 1050-4729.
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Offizielle URL: https://ieeexplore.ieee.org/document/9197477
Kurzfassung
Nowadays, robots are mechanically able to perform highly demanding tasks, where AI-based planning methods are used to schedule a sequence of actions that result in the desired effect. However, it is not always possible to know the exact outcome of an action in advance, as failure situations may occur at any time. To enhance failure tolerance, we propose to predict the effects of robot actions by augmenting collected experience with semantic knowledge and leveraging realistic physics simulations. That is, we consider semantic similarity of actions in order to predict outcome probabilities for previously unknown tasks. Furthermore, physical simulation is used to gather simulated experience that makes the approach robust even in extreme cases. We show how this concept is used to predict action success probabilities and how this information can be exploited throughout future planning trials. The concept is evaluated in a series of real world experiments conducted with the humanoid robot Rollin’ Justin.
elib-URL des Eintrags: | https://elib.dlr.de/134290/ | ||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||
Titel: | Probabilistic Effect Prediction through Semantic Augmentation and Physical Simulation | ||||||||||||||||||||
Autoren: |
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Datum: | Juni 2020 | ||||||||||||||||||||
Erschienen in: | 2019 International Conference on Robotics and Automation, ICRA 2019 | ||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||
DOI: | 10.1109/ICRA40945.2020.9197477 | ||||||||||||||||||||
Seitenbereich: | Seiten 9278-9284 | ||||||||||||||||||||
Verlag: | IEEE | ||||||||||||||||||||
ISSN: | 1050-4729 | ||||||||||||||||||||
ISBN: | 978-153866026-3 | ||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||
Stichwörter: | Robotics, Task and Motion Planning, Humanoid, Reasoning, Probabilistic Reasoning, Physical Simulation, Semantics | ||||||||||||||||||||
Veranstaltungstitel: | IEEE International Conference on Robotics and Automation (ICRA) | ||||||||||||||||||||
Veranstaltungsort: | Paris, France | ||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||
Veranstaltungsbeginn: | 31 Mai 2020 | ||||||||||||||||||||
Veranstaltungsende: | 31 August 2020 | ||||||||||||||||||||
Veranstalter : | IEEE | ||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Vorhaben Intelligente Mobilität (alt), R - On-Orbit Servicing [SY] | ||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Kognitive Robotik Institut für Robotik und Mechatronik (ab 2013) > Autonomie und Fernprogrammierung | ||||||||||||||||||||
Hinterlegt von: | Bauer, Adrian Simon | ||||||||||||||||||||
Hinterlegt am: | 03 Dez 2020 13:37 | ||||||||||||||||||||
Letzte Änderung: | 21 Okt 2024 11:03 |
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