Task-Oriented Active Perception and Planning in Environments with Partially Known Semantics
Jul 12, 2020
Speakers
Mahsa Ghasemi
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Erdem Bulgur
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Ufuk Topcu
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About
We consider an agent that is assigned with a temporal logic task in an environment whose semantic representation is only partially known. We represent the semantics of the environment with a set of state properties, called atomic propositions. The agent holds a probabilistic belief over the atomic propositions and updates it as new sensory measurements arrive. The goal is to design a policy for the agent that realizes the task with high probability. We develop a planning strategy that takes the semantic uncertainties into account and by doing so provides probabilistic guarantees on the task success. Furthermore, as new data arrive, the belief over the atomic propositions evolves and, subsequently, the planning strategy adapts accordingly. We evaluate the proposed method on various finite-horizon tasks in planar navigation settings. The empirical results show that the proposed method provides reliable task performance that also improves as the knowledge about the environment enhances.We consider an agent that is assigned with a temporal logic task in an environment whose semantic representation is only partially known. We represent the semantics of the environment with a set of state properties, called atomic propositions. The agent holds a probabilistic belief over the atomic propositions and updates it as new sensory measurements arrive. The goal is to design a policy for the agent that realizes the task with high probability. We develop a planning strategy that takes the…
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AI & Data Science
Category · 10.8k presentations
About ICML 2020
The International Conference on Machine Learning (ICML) is the premier gathering of professionals dedicated to the advancement of the branch of artificial intelligence known as machine learning. ICML is globally renowned for presenting and publishing cutting-edge research on all aspects of machine learning used in closely related areas like artificial intelligence, statistics and data science, as well as important application areas such as machine vision, computational biology, speech recognition, and robotics. ICML is one of the fastest growing artificial intelligence conferences in the world. Participants at ICML span a wide range of backgrounds, from academic and industrial researchers, to entrepreneurs and engineers, to graduate students and postdocs.
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