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Long-Horizon Planning and Execution With Functional Object-Oriented Networks

Paulius, David and Agostini, Alejandro and Lee, Dongheui (2023) Long-Horizon Planning and Execution With Functional Object-Oriented Networks. IEEE Robotics and Automation Letters, 8 (8), pp. 4513-4520. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2023.3285510. ISSN 2377-3766.

[img] PDF - Postprint version (accepted manuscript)

Official URL: https://ieeexplore.ieee.org/document/10149517


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.

Item URL in elib:https://elib.dlr.de/197479/
Document Type:Article
Title:Long-Horizon Planning and Execution With Functional Object-Oriented Networks
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Paulius, DavidBrown Universityhttps://orcid.org/0000-0002-7891-8749UNSPECIFIED
Agostini, AlejandroUniversity of Innsbruckhttps://orcid.org/0000-0002-4894-8752UNSPECIFIED
Lee, DongheuiUNSPECIFIEDhttps://orcid.org/0000-0003-1897-7664UNSPECIFIED
Date:13 June 2023
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 4513-4520
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Long-Horizon Planning
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Basic Technologies [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Strobl, Dr. Klaus H.
Deposited On:22 Sep 2023 12:53
Last Modified:25 Sep 2023 10:31

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