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Learning Operators for Manipulation Planning

Burbridge, Chris and Saigol, Zeyn and Borst, Christoph and Dearden, Richard (2012) Learning Operators for Manipulation Planning. In: Proceedings, pp. 686-693. Intelligent Robots and Systems. IROS 2012, 07. - 12. Okt. 2012, Vilamoura, Portugal. ISBN 978-1-4673-1737-5 ISSN 2153-0858

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Official URL: http://10.1109/IROS.2012.6385889

Abstract

We describe a method for learning planning operators for manipulation tasks from hand-written programs to provide a high-level command interface to a robot manipulator that allows tasks to be specified simply as goals. This is made challenging by the fact that a manipulator is a hybrid system—any model of it consists of discrete variables such as “holding cup” and continuous variables such as the poses of objects and position of the robot. The approach relies on three novel techniques: the action learning from annotated code uses simulation to find PDDL action models corresponding to code fragments. To provide the geometric information needed we use supervised learning to produce a mapping from geometric to symbolic state. The mapping can also be used in reverse to produce a geometric state that makes a set of predicates true, thus allowing desired object positions to be generated during planning. Finally, during execution of the plan we use a partially observable Markov decision problem-based planner to repair the initial plan when unforeseen geometric constraints prevent actions from being executed.

Item URL in elib:https://elib.dlr.de/80716/
Document Type:Conference or Workshop Item (Speech, Paper)
Title:Learning Operators for Manipulation Planning
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Burbridge, ChrisSchool of Computer Science, University of Birmingham, Edgbaston, B15 2TT, U.K.UNSPECIFIED
Saigol, ZeynSchool of Computer Science, University of Birmingham, Edgbaston, B15 2TT, U.K.UNSPECIFIED
Borst, ChristophUNSPECIFIEDUNSPECIFIED
Dearden, RichardSchool of Computer Science, University of Birmingham, Edgbaston, B15 2TT, U.K.UNSPECIFIED
Date:7 October 2012
Journal or Publication Title:Proceedings
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Page Range:pp. 686-693
Publisher:Intelligent Robots and Systems
ISSN:2153-0858
ISBN:978-1-4673-1737-5
Status:Published
Keywords:Learning Operators, Manipulation Planning
Event Title:IROS 2012
Event Location:Vilamoura, Portugal
Event Type:international Conference
Event Dates:07. - 12. Okt. 2012
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - RMC - Kognitive Intelligenz und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012)
Deposited By: Wimmer, Monika
Deposited On:22 Jan 2013 15:53
Last Modified:13 Jul 2016 17:28

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