Task-Motion Planning with Reinforcement Learning for Adaptable Mobile Service Robots.
Yuqian JiangFangkai YangShiqi ZhangPeter StonePublished in: IROS (2019)
Keyphrases
- motion planning
- service robots
- reinforcement learning
- manipulation tasks
- human robot interaction
- humanoid robot
- degrees of freedom
- mobile robot
- trajectory planning
- home environment
- path planning
- robot arm
- mobile devices
- multi robot
- robotic arm
- belief space
- mechanical systems
- inverse kinematics
- robotic tasks
- climbing robot
- learning algorithm
- obstacle avoidance
- machine learning
- state space
- collision free
- context aware
- autonomous mobile robot
- multi agent
- markov decision processes
- multi modal
- software engineering
- d objects
- robot control
- dynamic programming
- viewpoint
- real robot
- model free