论文标题
使用具有可证明保证的模型不正确的模型进行计划和执行
Planning and Execution using Inaccurate Models with Provable Guarantees
论文作者
论文摘要
现代计划问题中用于模拟现实世界行动执行结果的模型变得越来越复杂，从基于物理学的推理的模拟器到预先计算的分析运动原语。但是，在执行之前，在现实世界中运行的机器人通常会面临未由这些模型建模的情况。这种不完善的建模可能会导致执行过程中高度次优甚至不完整的行为。在本文中，我们提出了CMAX的一种交织计划和执行的方法。 CMAX在实际执行期间在线调整其计划策略，以说明计划过程中动态的任何差异，而无需更新模型的动态。这是通过使计划者偏离发现动态的过渡来实现的，这些动力学被发现是不准确的，从而导致机器人行为试图完成任务，尽管模型不正确。我们为小型和大州空间的特定假设提供了拟议的计划和执行框架的完整性和效率的可证明的保证。在模拟机器人任务中，我们的CMAX方法在包括4D平面推动在内的模拟机器人任务中是有效的。可以在https://youtu.be/eqmaewihjo8上找到我们物理机器人实验的视频
Models used in modern planning problems to simulate outcomes of real world action executions are becoming increasingly complex, ranging from simulators that do physics-based reasoning to precomputed analytical motion primitives. However, robots operating in the real world often face situations not modeled by these models before execution. This imperfect modeling can lead to highly suboptimal or even incomplete behavior during execution. In this paper, we propose CMAX an approach for interleaving planning and execution. CMAX adapts its planning strategy online during real-world execution to account for any discrepancies in dynamics during planning, without requiring updates to the dynamics of the model. This is achieved by biasing the planner away from transitions whose dynamics are discovered to be inaccurately modeled, thereby leading to robot behavior that tries to complete the task despite having an inaccurate model. We provide provable guarantees on the completeness and efficiency of the proposed planning and execution framework under specific assumptions on the model, for both small and large state spaces. Our approach CMAX is shown to be efficient empirically in simulated robotic tasks including 4D planar pushing, and in real robotic experiments using PR2 involving a 3D pick-and-place task where the mass of the object is incorrectly modeled, and a 7D arm planning task where one of the joints is not operational leading to discrepancy in dynamics. The video of our physical robot experiments can be found at https://youtu.be/eQmAeWIhjO8
