Composable Causality in Semantic Robot Programming
Emily Sheetz,Xiaotong Chen,Zhen Zeng,Kaizhi Zheng,Qiuyu Shi,Odest Chadwicke Jenkins,Emily Sheetz,Xiaotong Chen,Zhen Zeng,Kaizhi Zheng,Qiuyu Shi,Odest Chadwicke Jenkins
Assembly tasks are challenging for robot manipulation because the robot must reason over the composed effects of actions and execute multi-objective behaviors. Robots typically use predefined priorities provided by users to determine how to compose controller behaviors, but we want the robot to autonomously select these compositions based on their composed effects within the task. We present Compo...
