To ask for help or not to ask: A predictive approach to human-in-the-loop motion planning for robot manipulation tasks
Rafael Papallas,Mehmet R. Dogar,Rafael Papallas,Mehmet R. Dogar
We present a predictive system for non-prehensile, physics-based motion planning in clutter with a human-in-the-loop. Recent shared-autonomous systems present motion planning performance improvements when high-level reasoning is provided by a human. Humans are usually good at quickly identifying high-level actions in high-dimensional spaces, and robots are good at converting high-level actions int...
