Paulius, David und Agostini, Alejandro und Lee, Dongheui (2023) Long-Horizon Planning and Execution With Functional Object-Oriented Networks. IEEE Robotics and Automation Letters, 8 (8), Seiten 4513-4520. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2023.3285510. ISSN 2377-3766.
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Offizielle URL: https://ieeexplore.ieee.org/document/10149517
Kurzfassung
Following work on joint object-action representations, functional object-oriented networks (FOON) were introduced as a knowledge graph representation for robots. A FOON contains symbolic concepts useful to a robot's understanding of tasks and its environment for object-level planning . Prior to this work, little has been done to show how plans acquired from FOON can be executed by a robot, as the concepts in a FOON are too abstract for execution. We thereby introduce the idea of exploiting object-level knowledge as a FOON for task planning and execution. Our approach automatically transforms FOON into PDDL and leverages off-the-shelf planners, action contexts, and robot skills in a hierarchical planning pipeline to generate executable task plans. We demonstrate our entire approach on long-horizon tasks in CoppeliaSim and show how learned action contexts can be extended to never-before-seen scenarios.
elib-URL des Eintrags: | https://elib.dlr.de/197479/ | ||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||
Titel: | Long-Horizon Planning and Execution With Functional Object-Oriented Networks | ||||||||||||||||
Autoren: |
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Datum: | 13 Juni 2023 | ||||||||||||||||
Erschienen in: | IEEE Robotics and Automation Letters | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Ja | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||
Band: | 8 | ||||||||||||||||
DOI: | 10.1109/LRA.2023.3285510 | ||||||||||||||||
Seitenbereich: | Seiten 4513-4520 | ||||||||||||||||
Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||
ISSN: | 2377-3766 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | Long-Horizon Planning | ||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Basistechnologien [RO] | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||
Hinterlegt von: | Strobl, Dr. Klaus H. | ||||||||||||||||
Hinterlegt am: | 22 Sep 2023 12:53 | ||||||||||||||||
Letzte Änderung: | 25 Sep 2023 10:31 |
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