PYI: Information Requirements of Robot Manipulation Tasks.

该奖项为五年总统青年研究者奖的第一年提供资金，用于研究操纵任务的信息需求的理解。其目的是开发任务的高级表示，以便将其分解为子任务，并将高级规范转换为低级机器人命令。这种平移由于可能在整个系统中传播的不确定性而变得复杂。将开发一种操作语言来支持任务分解和抽象，并将研究几种类型的操作任务，包括零件定向、内爆装配和大规模安装操作。该项目将研究分解的子任务之间的信息流。这项研究将有助于更好地理解操作的基本原理，更好地描述信息、装配速度和任务可解性之间的关系，并更好地理解如何设计在不确定世界中操作的机器人。//

This award funds the first year of a five-year Presidential Young Investigator Award for research into an understanding of the information requirements of manipulation tasks. The aim is to develop a high-level representation of tasks that facilitates the decomposition into subtasks and the translation of high-level specifications into low-level robot commands. Such translation is complicated by uncertainties which may propagate through the system. A manipulation language will be developed to support task decomposition and abstraction, and several types of manipulation tasks will be studied, including parts orienting, assembly by implosion, and large-scale mounting operations. The project will study information flow among the decomposed subtasks. This research should lead to a better understanding of the fundamentals of manipulation, a better characterization of the relations among information, speed of assemble, and task solvability, and a better understanding of how to design robots for operation in a world with uncertainties.//