ビューを用いた効率的な記号計画
Efficient Symbolic Planning with Views
複合属性を基本属性に分解して汎化を促しつつ、属性を段階的に増やす「ビュー」で計画問題を分割し、速度と解品質の両立を図る手法を提案。
著者: Stephan Hasler, Daniel Tanneberg, Michael Gienger
分類: cs.RO
原文アブストラクト
Robotic planning systems model spatial relations in detail as these are needed for manipulation tasks. In contrast to this, other physical attributes of objects and the effect of devices are usually oversimplified and expressed by abstract compound attributes. This limits the ability of planners to find alternative solutions. We propose to break these compound attributes down into a shared set of elementary attributes. This strongly facilitates generalization between different tasks and environments and thus helps to find innovative solutions. On the down-side, this generalization comes with an increased complexity of the solution space. Therefore, as the main contribution of the paper, we propose a method that splits the planning problem into a sequence of views, where in each view only an increasing subset of attributes is considered. We show that this view-based strategy offers a good compromise between planning speed and quality of the found plan, and discuss its general applicability and limitations.
