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cs.RO2024
Closed-loop multi-step planning with innate physics knowledge
Giulia Lafratta, Bernd Porr, Christopher Chandler +1
We present a hierarchical framework to solve robot planning as an input control problem. At the lowest level are temporary closed control loops, ("tasks"), each representing a beha…
cs.RO2024
Closed-loop Multi-step Planning
Giulia Lafratta, Bernd Porr, Christopher Chandler +1
Living organisms interact with their surroundings in a closed-loop fashion, where sensory inputs dictate the initiation and termination of behaviours. Even simple animals are able…