Efficient Task Planning with Abstract Skills

Description

This lecture presented by the instructor focuses on efficient task planning using abstract skills and dynamic road map matching. The lecture starts with a motivating example of box stacking plans and the challenge of reusability. It then discusses standard transfer techniques and their limitations, leading to the proposal of a two-stage transfer approach with abstract skills. The lecture explains how adaptation is achieved through projection and reconstruction, emphasizing the importance of an abstraction key. Visual examples of planning with skills in a grid world are provided, showcasing the extraction of abstract skill libraries. The lecture concludes by highlighting the dynamic decomposition of road maps into sub-tasks for a fast and flexible solution. Additional information on related papers and upcoming publications is also shared.

Official source

https://mediaspace.epfl.ch/media/0_17d9szmn

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