ProbRobScene：3Dロボット操作環境のための確率的仕様記述言語
ProbRobScene: A Probabilistic Specification Language for 3D Robotic Manipulation Environments
物体間の関係制約を記述するだけで、その仕様に沿ったロボット操作環境を自動生成する確率的仕様言語を提案し、卓上操作環境でのコントローラのデバッグに有用性を示した。
著者: Craig Innes, Subramanian Ramamoorthy
分類: cs.RO
原文アブストラクト
Robotic control tasks are often first run in simulation for the purposes of verification, debugging and data augmentation. Many methods exist to specify what task a robot must complete, but few exist to specify what range of environments a user expects such tasks to be achieved in. ProbRobScene is a probabilistic specification language for describing robotic manipulation environments. Using the language, a user need only specify the relational constraints that must hold between objects in a scene. ProbRobScene will then automatically generate scenes which conform to this specification. By combining aspects of probabilistic programming languages and convex geometry, we provide a method for sampling this space of possible environments efficiently. We demonstrate the usefulness of our language by using it to debug a robotic controller in a tabletop robot manipulation environment.
