Symbolic State Estimation with Predicates for Contact-Rich Manipulation Tasks
Toki Migimatsu,Wenzhao Lian,Jeannette Bohg,Stefan Schaal,Toki Migimatsu,Wenzhao Lian,Jeannette Bohg,Stefan Schaal
Manipulation tasks often require a robot to adjust its sensorimotor skills based on the state it finds itself in. Taking peg-in-hole as an example: once the peg is aligned with the hole, the robot should push the peg downwards. While high level execution frameworks such as state machines and behavior trees are commonly used to formalize such decision-making problems, these frameworks require a mec...
