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), 31. May - 31. Aug 2020, Paris, France. doi: 10.1109/ICRA40945.2020.9197477. ISBN 978-153866026-3. ISSN 10504729.
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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/ | |||||||||||||||
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Document Type: | Conference or Workshop Item (Speech) | |||||||||||||||
Title: | Probabilistic Effect Prediction through Semantic Augmentation and Physical Simulation | |||||||||||||||
Authors: |
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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: | 10504729 | |||||||||||||||
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 Dates: | 31. May - 31. Aug 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 | |||||||||||||||
Deposited On: | 03 Dec 2020 13:37 | |||||||||||||||
Last Modified: | 11 Mar 2022 16:07 |
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