Sakagami, Ryo und Lay, Florian Samuel und Dömel, Andreas und Schuster, Martin und Albu-Schäffer, Alin Olimpiu und Stulp, Freek (2023) Robotic world models – conceptualization, review, and engineering best practices. Frontiers in Robotics and AI, 10. Frontiers Media S.A. doi: 10.3389/frobt.2023.1253049. ISSN 2296-9144.
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Offizielle URL: https://www.frontiersin.org/articles/10.3389/frobt.2023.1253049/full
Kurzfassung
The term "world model" (WM) has surfaced several times in robotics, for instance, in the context of mobile manipulation, navigation and mapping, and deep reinforcement learning. Despite its frequent use, the term does not appear to have a concise definition that is consistently used across domains and research fields. In this review article, we bootstrap a terminology for WMs, describe important design dimensions found in robotic WMs, and use them to analyze the literature on WMs in robotics, which spans four decades. Throughout, we motivate the need for WMs by using principles from software engineering, including "Design for use," "Do not repeat yourself," and "Low coupling, high cohesion." Concrete design guidelines are proposed for the future development and implementation of WMs. Finally, we highlight similarities and differences between the use of the term "world model" in robotic mobile manipulation and deep reinforcement learning.
elib-URL des Eintrags: | https://elib.dlr.de/198741/ | ||||||||||||||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||||||||||
Titel: | Robotic world models – conceptualization, review, and engineering best practices | ||||||||||||||||||||||||||||
Autoren: |
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Datum: | 2 November 2023 | ||||||||||||||||||||||||||||
Erschienen in: | Frontiers in Robotics and AI | ||||||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||||||||||
Gold Open Access: | Ja | ||||||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||||||||||
Band: | 10 | ||||||||||||||||||||||||||||
DOI: | 10.3389/frobt.2023.1253049 | ||||||||||||||||||||||||||||
Herausgeber: |
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Verlag: | Frontiers Media S.A | ||||||||||||||||||||||||||||
ISSN: | 2296-9144 | ||||||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||||||
Stichwörter: | world model, state representation, software architecture for robotics and automation, environment modeling, autonomous robots | ||||||||||||||||||||||||||||
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 - Intelligente Mobilität (RM) [RO] | ||||||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||||||||||||||
Hinterlegt von: | Sakagami, Ryo | ||||||||||||||||||||||||||||
Hinterlegt am: | 03 Nov 2023 12:08 | ||||||||||||||||||||||||||||
Letzte Änderung: | 03 Nov 2023 20:20 |
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