Robotic Cleaning Through Dirt Rearrangement Planning with Learned Transition Models
ICRA, pp. 1623-1630, 2018.
We address the problem of enabling a manipulator to move arbitrary amounts and configurations of dirt on a surface to a goal region using a cleaning tool. We represent this problem as heuristic search with a set of primitive dirt-oriented tool actions. We present dirt and action representations that allow efficient learning and prediction...More
Full Text (Upload PDF)
PPT (Upload PPT)