自動化システム設計のための抽象的ハードウェアグラウンディング
Abstract Hardware Grounding towards the Automated Design of Automation Systems
人間の手順的知識をハードウェア要件の抽象表現とみなし、制約と選好の下で実デバイスに接地する枠組みを提案し、自動運転実験室の設計で有効性を示した。
著者: Yu-Zhe Shi, Qiao Xu, Fanxu Meng, Lecheng Ruan, Qining Wang
分類: cs.RO
原文アブストラクト
Crafting automation systems tailored for specific domains requires aligning the space of human experts' semantics with the space of robot executable actions, and scheduling the required resources and system layout accordingly. Regrettably, there are three major gaps, fine-grained domain-specific knowledge injection, heterogeneity between human knowledge and robot instructions, and diversity of users' preferences, resulting automation system design a case-by-case and labour-intensive effort, thus hindering the democratization of automation. We refer to this challenging alignment as the abstract hardware grounding problem, where we firstly regard the procedural operations in humans' semantics space as the abstraction of hardware requirements, then we ground such abstractions to instantiated hardware devices, subject to constraints and preferences in the real world -- optimizing this problem is essentially standardizing and automating the design of automation systems. On this basis, we develop an automated design framework in a hybrid data-driven and principle-derived fashion. Results on designing self-driving laboratories for enhancing experiment-driven scientific discovery suggest our framework's potential to produce compact systems that fully satisfy domain-specific and user-customized requirements with no redundancy.
