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Planning Robust Strategies for Constructing Multi-object Arrangements

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dc.contributor.advisor Tomas Lozano-Perez
dc.contributor.author Anders, Ariel en_US
dc.contributor.author Kaelbling, Leslie en_US
dc.contributor.author Lozano-Perez, Tomas en_US
dc.contributor.other Learning and Intelligent Systems en
dc.date.accessioned 2017-04-28T19:45:06Z
dc.date.available 2017-04-28T19:45:06Z
dc.date.issued 2017-01-30
dc.identifier.uri http://hdl.handle.net/1721.1/108510
dc.description.abstract A crucial challenge in robotics is achieving reliable results in spite of sensing and control uncertainty. A prominent strategy for dealing with uncertainty is to construct a feedback policy, where actions are chosen as a function of the current state estimate. However, constructing such policies is computationally very difficult. An alternative strategy is conformant planning which finds open-loop action sequences that achieve the goal for all input states and action outcomes. In this work, we investigate the conformant planning approach to robot manipulation. In particular, we tackle the problem of pushing multiple objects simultaneously to achieve a specified arrangement. Conformant planning is a belief-state planning problem. A belief state is the set of all possible states of the world, and the goal is to find a sequence of actions that will bring an initial belief state to a goal belief state To do forward belief-state planning, we created a deterministic belief-state transition model from supervised learning based on physics simulations. A key pitfall in conformant planning is that the complexity of the belief state tends to increase with each operation, making it increasingly harder to compute the effect of actions. This work explores the idea that we can construct conformant plans for robot manipulation by only using actions resulting in compact belief states. en_US
dc.format.extent 8 pp. en_US
dc.relation.ispartofseries MIT-CSAIL-TR-2017-007
dc.subject manipulation en_US
dc.subject robotics en_US
dc.subject machine learning en_US
dc.subject belief space en_US
dc.subject planning en_US
dc.subject uncertainty en_US
dc.title Planning Robust Strategies for Constructing Multi-object Arrangements en_US
dc.date.updated 2017-04-28T19:45:06Z


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