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ICRA
2010
IEEE

Priming transformational planning with observations of human activities

8 years 10 months ago
Priming transformational planning with observations of human activities
— People perform daily activities in many different ways. When setting a table, they might use a tray, stack plates, stack cups on plates, leave the doors of a cupboard open when taking several items out of it. Similarly flexible behavior is desired when mobile robots perform household tasks. Moreover, they should perform actions in a way that they are accepted by the people, for example by showing human-like behavior. In this paper we propose to extend a transformational planning system with models characterizing the behavior produced by the different plans in the plan library. These models are used by the robot to select a plan that resembles human behavior. In addition to acting more human-like, this helps the robot choose good plans for a task by imitating humans instead of performing exhaustive search. We show the feasibility of this approach using a household robot application as an example and present empirical results on the classification accuracy in this domain.
Moritz Tenorth, Michael Beetz
Added 26 Jan 2011
Updated 26 Jan 2011
Type Journal
Year 2010
Where ICRA
Authors Moritz Tenorth, Michael Beetz
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