Manipulation Planning From Demonstration Via Goal-Conditioned Prior Action Primitive Decomposition and Alignment.
Nan LinYuxuan LiKeke TangYujun ZhuXiayu ZhangRuolin WangJianmin JiXiaoping ChenXin-Ming ZhangPublished in: IEEE Robotics Autom. Lett. (2022)
Keyphrases
- nondeterministic domains
- derived predicates
- action selection
- planning problems
- plan execution
- htn planning
- high level
- means ends analysis
- external events
- action sequences
- decomposition methods
- initial state
- decision support
- prior knowledge
- planning process
- ai planning
- decision theoretic
- plan generation
- motion planning
- goal state
- domain description
- heuristic search
- abstraction hierarchy
- genetic algorithm