Hierarchical POMDP planning for object manipulation in clutter.
Wenrui ZhaoWeidong ChenPublished in: Robotics Auton. Syst. (2021)
Keyphrases
- object manipulation
- planning problems
- belief space
- robot control
- partially observable markov decision processes
- partially observable
- partially observable markov decision process
- robotic systems
- state space
- manipulation tasks
- motion planning
- reinforcement learning
- predictive state representations
- heuristic search
- point based value iteration
- belief state
- decision theoretic
- finite state
- optimal policy
- activity recognition
- markov decision processes
- dynamical systems
- vision system
- sensor networks