A Learning Based Approach for Planning with Safe Actions

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21730%2F20%3A00347586" target="_blank" >RIV/68407700:21730/20:00347586 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.1007/978-3-030-58814-4_7" target="_blank" >https://doi.org/10.1007/978-3-030-58814-4_7</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1007/978-3-030-58814-4_7" target="_blank" >10.1007/978-3-030-58814-4_7</a>

Result language

angličtina

Original language name

A Learning Based Approach for Planning with Safe Actions

Original language description

Given a configuration involving some objects in an environment, the planning problem, considered in this paper, is to find a plan that rearranges these objects so as to place a new object. The challenging aspect here involves deciding when an object can be placed on top of another object. Here only defining standard planning operators would not suffice. For instance, using these operators we can come up with actions that may be performed at a state but it should not be performed. So we introduce the notion of safe actions whose outcomes are consistent with the laws of physics, commonsense, and common practice. A safe action can be performed if a robot performing the action knows the knowledge of the situation. We developed a knowledge engine using a supervised learning technique. However, unlike the common task of learning functions, our approach is to learn predicates--that evaluate to binary values. By learning such a predicate a robot would be able to decide whether or not an object A can be placed on top of another object B. We give a method to handle new objects for which the predicates have not been learned. We suggest a nondeterministic planning algorithm to synthesize plans that contain only safe actions. Experimental results show the efficacy of our approach.

Czech name

—

Czech description

—

Type

D - Article in proceedings

CEP classification

—

OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

—

Continuities

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Publication year

2020

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

Computational Science and Its Applications – ICCSA 2020

ISBN

978-3-030-58813-7

ISSN

0302-9743

e-ISSN

1611-3349

Number of pages

13

Pages from-to

93-105

Publisher name

Springer Science+Business Media

Place of publication

Berlin

Event location

Cagliari

Event date

Jul 1, 2020

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

000719714800007