Abstract
In this paper, we consider an autonomous robot that persists over time performing tasks and the problem of providing one additional task to the robot’s task library. We present an approach to generalize tasks, represented as parameterized graphs with sequences, conditionals, and looping constructs of sensing and actuation primitives. Our approach performs graph-structure task generalization, while maintaining task executability and parameter value distributions. We present an algorithm that, given the initial steps of a new task, proposes an autocompletion based on a recognized past similar task. Our generalization and autocompletion contributions are effective on different real robots. We show concrete examples of the robot primitives and task graphs, as well as results, with Baxter. In experiments with multiple tasks, we show a significant reduction in the number of new task steps to be provided.
S.D. Klee and G. Gemignani—The first two authors have contributed equally to this paper.
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Klee, S.D., Gemignani, G., Nardi, D., Veloso, M. (2015). Graph-Based Task Libraries for Robots: Generalization and Autocompletion. In: Gavanelli, M., Lamma, E., Riguzzi, F. (eds) AI*IA 2015 Advances in Artificial Intelligence. AI*IA 2015. Lecture Notes in Computer Science(), vol 9336. Springer, Cham. https://doi.org/10.1007/978-3-319-24309-2_30
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DOI: https://doi.org/10.1007/978-3-319-24309-2_30
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