記号的移動マニピュレーションスキルセットの自動拡張
Automatic Extension of a Symbolic Mobile Manipulation Skill Set
環境変化に応じてロボットが自身のスキルセットと抽象記述を自動拡張する手法を提案し、物体再配置タスクのシミュレーションでMCTSベースラインより成功率29%向上・実行時間68%短縮を達成した。
著者: Julian Förster, Lionel Ott, Juan Nieto, Roland Siegwart, Jen Jen Chung
分類: cs.RO
原文アブストラクト
Symbolic planning can provide an intuitive interface for non-expert users to operate autonomous robots by abstracting away much of the low-level programming. However, symbolic planners assume that the initially provided abstract domain and problem descriptions are closed and complete. This means that they are fundamentally unable to adapt to changes in the environment or task that are not captured by the initial description. We propose a method that allows an agent to automatically extend its skill set, and thus the abstract description, upon encountering such a situation. We introduce strategies for generalizing from previous experience, completing sequences of key actions and discovering preconditions to ensure the efficiency of our skill sequence exploration scheme. The resulting system is evaluated in simulation on object rearrangement tasks. Compared to a Monte Carlo Tree Search baseline, our strategies for efficient search have on average a 29% higher success rate at a 68% faster runtime.
