Simulation-based temporal projection of everyday robot object manipulation

摘要

Performing everyday manipulation tasks successfully depends on the ability of autonomous robots to appropriately account for the physical behavior of task-related objects. Meaning that robots have to predict and consider the physical effects of their possible actions to take.In this work we investigate a simulation-based approach to naive physics temporal projection in the context of autonomous robot everyday manipulation. We identify the abstractions underlying typical first-order axiomatizations as the key obstacles for making valid naive physics predictions. We propose that temporal projection for naive physics problems should not be performed based on abstractions but rather based on detailed physical simulations. This idea is realized as a temporal projection system for autonomous manipulation robots that translates naive physics problems into parametrized physical simulation tasks, that logs the data structures and states traversed in simulation, and translates the logged data back into symbolic time-interval-based first-order representations. Within this paper, we describe the concept and implementation of the temporal projection system and present the example of an egg-cracking robot for demonstrating its feasibility.