Learning Hybrid Object Kinematics for Efficient Hierarchical Planning Under Uncertainty
Ajinkya Jain,Scott Niekum,Ajinkya Jain,Scott Niekum
Sudden changes in the dynamics of robotic tasks, such as contact with an object or the latching of a door, are often viewed as inconvenient discontinuities that make manipulation difficult. However, when these transitions are well-understood, they can be leveraged to reduce uncertainty or aid manipulation-for example, wiggling a screw to determine if it is fully inserted or not. Current model-free...
