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Bridging the Gap Between Semantic Planning and Continuous Control for Mobile Manipulation Using a Graph-Based World Representation
Stanford Robotics and AI Lab, Stanford University, California, USA.ORCID-id: 0000-0003-3513-8854
Stanford Computational Learning Lab, Stanford University, California, USA.
Stanford Robotics and AI Lab, Stanford University, California, USA.
2009 (engelsk)Inngår i: Proceedings of the HYCAS 2009 workshop: 1st International Workshop on Hybrid Control of Autonomous Systems: Integrating Learning, Deliberation and Reactive Control / [ed] A. Ferrein, J. Pauli, N.T. Siebel and G. Steinbauer, 2009, s. 77-81Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

We present our ongoing efforts to create a mobile manipulation database tool, a flexible multi-modal representation supporting persistent life-long adaptation for autonomous service robots in every-day environments. Its application to a prototypical domain illustrates how it provides symbol grounding to a reasoning system capable of learning new concepts, couples semantic planning with whole-body prioritized control, and supports exploration of uncertain and dynamic environments.

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2009. s. 77-81
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Identifikatorer
URN: urn:nbn:se:hh:diva-20128OAI: oai:DiVA.org:hh-20128DiVA, id: diva2:577010
Konferanse
21st International Joint Conference on Artificial Intelligence (IJCAI-09): 1st International Workshop on Hybrid Control of Autonomous Systems - Integrating Learning, Deliberation and Reactive Control (HYCAS 2009) Pasadena, California, USA, July 13 2009
Tilgjengelig fra: 2012-12-14 Laget: 2012-12-14 Sist oppdatert: 2018-01-12bibliografisk kontrollert

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