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Dettaglio pubblicazione

2020, Intelligent Systems and Applications, Pages 792-809 (volume: 1037)

Anticipating next goal for robot plan prediction (04b Atto di convegno in volume)

Alati E., Mauro L., Ntouskos V., Pirri F.

Goal reasoning is a main objective for robot task execution. Here we propose a deep model for learning to infer a next goal, while performing an activity. Because predicting the next goal state requires a robot language, not comparable to sentences, we introduce a specific metric for optimization, which is related to the representation the robot has of the scene. Experiments of the proposed idea and method have been done at a warehouse with a humanoid robot performing tasks assisting a maintenance technician working at a production line.
ISBN: 978-3-030-29515-8; 978-3-030-29516-5
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