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SYSTEMS AND METHODS FOR OPERATING ROBOTS USING OBJECT-ORIENTED PARTIALLY OBSERVABLE MARKOV DECISION PROCESSES
SYSTEMS AND METHODS FOR OPERATING ROBOTS USING OBJECT-ORIENTED PARTIALLY OBSERVABLE MARKOV DECISION PROCESSES
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机译:使用面向对象的部分可观察的马尔可夫决策过程操作机器人的系统和方法
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摘要
A system and method of operating a mobile robot to perform tasks includes representing a task in an Object-Oriented Partially Observable Markov Decision Process model having at least one belief pertaining to a state and at least one observation space within an environment, wherein the state is represented in terms of classes and objects and each object has at least one attribute and a semantic label. The method further includes receiving a language command identifying a target object and a location corresponding to the target object, updating the belief associated with the target object based on the language command, driving the mobile robot to the observation space identified in the updated belief, searching the updated observation space for each instance of the target object, and providing notification upon completing the task. In an embodiment, the task is a multi-object search task.
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