Robot Skill Learning with Identification of Preconditions and Postconditions via Level Set Estimation
Rin Takano,Hiroyuki Oyama,Yuki Taya,Rin Takano,Hiroyuki Oyama,Yuki Taya
Hierarchical algorithms have often been used to plan and execute complicated robotic sequential manipulation tasks, where an abstract planner searches for a skill sequence in an abstract space, and each skill generates actual motions on the basis of the planned skill sequences. To generate executable plans, the abstract planner should know the pre-/postconditions of each skill and appropriately ch...
