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.
Published Date: 2020-06-02
Registration: ISSN 2374-3468 (Online) ISSN 2159-5399 (Print) ISBN 978-1-57735-835-0 (10 issue set)
Copyright: Published by AAAI Press, Palo Alto, California USA Copyright © 2020, Association for the Advancement of Artificial Intelligence All Rights Reserved