Choosing informative actions for manipulation tasks

摘要

Autonomous robots demand complex behavior to perform tasks in unstructured environments. In order to meet these expectations efficiently, it is necessary to organize knowledge of past interactions with the world in order to facilitate future tasks. With this goal in mind, we present a knowledge representation that makes explicit the invariant spatial relation- ships between sensorimotor features comprising a rigid body and uses them to reason about other tasks and run-time contexts.