Future Predictive Success-or-Failure Classification for Long-Horizon Robotic Tasks

arXiv:2404.03415v1 Announce Type: cross
Abstract: Automating long-horizon tasks with a robotic arm has been a central research topic in robotics. Optimization-based action planning is an efficient approach for creating an action plan to complete a given task. Construction of a reliable planning method requires a design process of conditions, e.g., to avoid collision between objects. The design process, however, has two critical issues: 1) iterative trials--the design process is time-consuming due to the trial-and-error process of modifying conditions, and 2) …

abstract arm arxiv classification construction cs.cv cs.ro design failure future horizon optimization planning predictive process research robotic robotic arm robotics success tasks type