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Intro
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Classroom Contents
Integrated Task and Motion Planning in Belief Space
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- 1 Intro
- 2 Real robot meets real world
- 3 Action selection is the driving problem
- 4 POMDP: Optimal solution is complex...
- 5 Steps toward a principled approximation
- 6 Complex conditional effects — Implicit predicates
- 7 Geometric - Extended "delete" heuristic
- 8 Postponing preconditions creates hierarchy
- 9 Hierarchical plan
- 10 Hierarchical — Goal Regression
- 11 Heuristic for regression planning
- 12 Outcome uncertainty — Replanning
- 13 Update belief based on perceptual information
- 14 Belief update and inference strategy
- 15 Uncertainty about geometry
- 16 Motion planning with uncertainty
- 17 Logical representations of uncertain geometry!
- 18 Finding the soda (blue box)
- 19 Trying to move the soup can out of the way
- 20 Picking up the soda box
- 21 Meta-cognitive learning: improving planning
