9,124 research outputs found
Learning and Reasoning for Robot Sequential Decision Making under Uncertainty
Robots frequently face complex tasks that require more than one action, where
sequential decision-making (SDM) capabilities become necessary. The key
contribution of this work is a robot SDM framework, called LCORPP, that
supports the simultaneous capabilities of supervised learning for passive state
estimation, automated reasoning with declarative human knowledge, and planning
under uncertainty toward achieving long-term goals. In particular, we use a
hybrid reasoning paradigm to refine the state estimator, and provide
informative priors for the probabilistic planner. In experiments, a mobile
robot is tasked with estimating human intentions using their motion
trajectories, declarative contextual knowledge, and human-robot interaction
(dialog-based and motion-based). Results suggest that, in efficiency and
accuracy, our framework performs better than its no-learning and no-reasoning
counterparts in office environment.Comment: In proceedings of 34th AAAI conference on Artificial Intelligence,
202
Human Motion Trajectory Prediction: A Survey
With growing numbers of intelligent autonomous systems in human environments,
the ability of such systems to perceive, understand and anticipate human
behavior becomes increasingly important. Specifically, predicting future
positions of dynamic agents and planning considering such predictions are key
tasks for self-driving vehicles, service robots and advanced surveillance
systems. This paper provides a survey of human motion trajectory prediction. We
review, analyze and structure a large selection of work from different
communities and propose a taxonomy that categorizes existing methods based on
the motion modeling approach and level of contextual information used. We
provide an overview of the existing datasets and performance metrics. We
discuss limitations of the state of the art and outline directions for further
research.Comment: Submitted to the International Journal of Robotics Research (IJRR),
37 page
- …