S&AS:INT: Integrated Reasoning, Planning and Acting for Household Robots

基本信息

批准号：
1723381
负责人：
Leslie Kaelbling
金额：
$ 80万
依托单位：
Massachusetts Institute of Technology
依托单位国家：
美国
项目类别：
Standard Grant
财政年份：
2017
资助国家：
美国
起止时间：
2017-08-15 至 2022-07-31
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=1723381&HistoricalAwards=false
关键词：
S&amp INT Integrated Reasoning Planning

项目摘要

Robots have the potential for enormous beneficial impact on society in fields such as cleaning, tidying, and cooking in households and hospitals, and supporting the elderly to age in place. To achieve many of these benefits, however, these systems will need to be smart enough so that they can be easily told what to do and act sensibly over long periods without needing constant supervision. The proposed research aims to develop fundamental algorithms that will enable robots to operate autonomously in complex domains, characterized by substantial uncertainty, complex interacting goals, and interaction with multiple people and many objects. Graduate and undergraduate students are involved in all aspects of the research, and the research in this project will become part of a new "AI in Robotics" project course at MIT (also available on-line).The fundamental approach in this proposal is decision-theoretic: (a) the system's uncertainty about its physical environment (such as location, shape, type, mass, etc. of objects) as well as mental states of other agents (such as intentions and desires) is modeled probabilistically; (b) design objectives for the system are articulated in terms of utility; and (c) the robot chooses actions according to the principle of rationality, that is, it should do things expected to gain high utility. While finding optimal solutions in complex domains is highly computationally intractable; the project will develop principled approximate solutions that are tractable, based on principles of hierarchical abstraction in space and time, planning in advance for only the most likely outcomes, and factoring complex processes into nearly-independent subprocesses.

机器人有可能对家庭和医院清洁，整理和烹饪等领域的社会产生巨大的有益影响，并支持老年人到位。但是，要获得许多这些好处，这些系统将需要足够聪明，以便可以轻松地告诉他们该怎么做，并在长期内明智地采取行动而无需持续的监督。拟议的研究旨在开发基本算法，这些算法将使机器人能够在复杂的领域中自主操作，其特征是实质性不确定性，复杂的相互作用目标以及与多个人和许多对象的互动。研究生和本科生参与研究的各个方面，该项目的研究将成为麻省理工学院的新“机器人AI”项目课程的一部分。该提案中的基本方法是决策理论：（a）系统对其物理环境（例如位置，形状，类型，质量）以及其他意图以及其他意图以及其他意图（以及其他意义）的不确定性（例如概率；（b）系统的设计目标是根据实用性阐明的；（c）机器人根据理性原则选择行动，也就是说，它应该做有望获得高级效用的事情。在复杂域中找到最佳解决方案虽然在高度计算上棘手。该项目将根据时空的层次抽象原理开发可访问的原则近似解决方案，并提前计划最有可能的结果，并将复杂的过程分解为几乎独立的子过程。