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Probabilistic Effect Prediction through Semantic Augmentation and Physical Simulation

Bauer, Adrian Simon and Schmaus, Peter and Stulp, Freek and Leidner, Daniel (2020) Probabilistic Effect Prediction through Semantic Augmentation and Physical Simulation. In: 2019 International Conference on Robotics and Automation, ICRA 2019, pp. 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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Official URL: https://ieeexplore.ieee.org/document/9197477

Abstract

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.

Item URL in elib:https://elib.dlr.de/134290/
Document Type:Conference or Workshop Item (Speech)
Title:Probabilistic Effect Prediction through Semantic Augmentation and Physical Simulation
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Bauer, Adrian SimonUNSPECIFIEDhttps://orcid.org/0000-0002-1171-4709UNSPECIFIED
Schmaus, PeterUNSPECIFIEDhttps://orcid.org/0000-0002-6639-0967UNSPECIFIED
Stulp, FreekUNSPECIFIEDhttps://orcid.org/0000-0001-9555-9517UNSPECIFIED
Leidner, DanielUNSPECIFIEDhttps://orcid.org/0000-0001-5091-7122UNSPECIFIED
Date:June 2020
Journal or Publication Title:2019 International Conference on Robotics and Automation, ICRA 2019
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI:10.1109/ICRA40945.2020.9197477
Page Range:pp. 9278-9284
Publisher:IEEE
ISSN:1050-4729
ISBN:978-153866026-3
Status:Published
Keywords:Robotics, Task and Motion Planning, Humanoid, Reasoning, Probabilistic Reasoning, Physical Simulation, Semantics
Event Title:IEEE International Conference on Robotics and Automation (ICRA)
Event Location:Paris, France
Event Type:international Conference
Event Start Date:31 May 2020
Event End Date:31 August 2020
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Vorhaben Intelligente Mobilität (old), R - On-Orbit Servicing [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Bauer, Adrian Simon
Deposited On:03 Dec 2020 13:37
Last Modified:21 Oct 2024 11:03

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