“The World Is Its Own Best Model”: Robust Real-World Manipulation Through Online Behavior Selection
Manuel Baum,Oliver Brock,Manuel Baum,Oliver Brock
Robotic manipulation behavior should be robust to disturbances that violate high-level task-structure. Such robustness can be achieved by constantly monitoring the environment to observe the discrete high-level state of the task. This is possible because different phases of a task are characterized by different sensor patterns and by monitoring these patterns a robot can decide which controllers t...
