RI: Small: A Novel Framework for Informed Manipulation Planning
RI:小型:知情操纵规划的新颖框架
基本信息
- 批准号:2008720
- 负责人:
- 金额:$ 42.5万
- 依托单位:
- 依托单位国家:美国
- 项目类别:Standard Grant
- 财政年份:2020
- 资助国家:美国
- 起止时间:2020-10-01 至 2024-09-30
- 项目状态:已结题
- 来源:
- 关键词:
项目摘要
Humans use many types of manipulation to accomplish daily tasks and easily sequence and execute pertinent actions. Robots are confined to very simple tasks that are often painstakingly broken down to an excruciating level of detail by humans who operate those robots. Today, more than ever, there is an urgent need to develop robots that reason about manipulation as seamlessly as humans do. Manipulation planning finds a sequence of actions that move the robot and the objects it interacts with from a start state to a goal state. In doing so, contacts are formed and broken, limits are imposed, and some high-level reasoning occurs:. Grasping, placing, regrasping, and rearranging objects often take place. The combination of manipulation planning with classical AI planning and formal methods will lead to the kind of behavior that is expected from a robot capable of cleaning a hospital room, performing tasks in an ICU, or assisting a recovering patient.This project advocates a novel, unifying framework for manipulation planning. It adopts a constraint-centric view, in particular using manifold constraints which define lower-dimensional subspaces, or modes, among which the robot must transition. The definition of transitions is also constraint-centric, defined by the combination of the constraints which define modes, and is only possible within the unified approach used to consider modes. The work depends on constructs from differential geometry and the use of multi-resolution search schemes. First, the project will generalize sampling-based algorithms for robot motion planning by decoupling the planning strategy from the satisfaction of constraints often found in manipulation. Second, the concept of a transition graph between modes will be defined and exploited during search to automatically find viable transitions between modes and produce manipulation plans. The work will start with a specific but general type of constraint, manifold constraints, and later expand to other types. The proposed research will investigate optimality and robustness guarantees provided by the proposed framework and will identify the limits of using constraints as a unifying construct in manipulation planning. The work will be supported by extensive experimentation in both simulation and realistic scenarios that involve several objects, cabinets, shelves, a mobile manipulator, and two stationary state-of-the-art manipulators.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.
人类使用许多类型的操作来完成日常任务,并轻松地排序和执行相关操作。机器人被限制在非常简单的任务中,这些任务通常被操作这些机器人的人类痛苦地分解到一个令人痛苦的细节水平。今天,比以往任何时候都更迫切需要开发像人类一样无缝地推理操作的机器人。操纵规划发现了一系列动作,这些动作将机器人及其与之交互的对象从开始状态移动到目标状态。在这样做的过程中,接触形成和打破,限制被强加,一些高层次的推理发生:抓取、放置、重新抓取和重新排列物体经常发生。将操作规划与经典的人工智能规划和形式化方法相结合,将导致机器人能够清洁医院房间,在ICU执行任务或协助康复患者的预期行为。该项目倡导一种新颖的,统一的操作规划框架。它采用了以约束为中心的观点,特别是使用定义低维子空间或模式的流形约束,机器人必须在这些子空间或模式之间转换。过渡的定义也是以约束为中心的,由定义模式的约束的组合来定义,并且只有在用于考虑模式的统一方法中才可能。这项工作依赖于微分几何的结构和多分辨率搜索方案的使用。首先,该项目将推广基于采样的机器人运动规划算法,通过解耦的规划策略,从满足经常在操作中发现的约束。其次,模式之间的转换图的概念将被定义和利用在搜索过程中自动找到可行的模式之间的转换,并产生操纵计划。这项工作将从一个特定但通用的约束类型开始,即流形约束,然后扩展到其他类型。拟议的研究将调查所提出的框架提供的最优性和鲁棒性保证,并将确定使用约束作为一个统一的结构在操纵规划的限制。这项工作将得到广泛的实验支持,包括模拟和现实场景,涉及几个对象,橱柜,货架,一个移动的机械手,和两个固定的最先进的机械手。这个奖项反映了NSF的法定使命,并已被认为是值得通过使用基金会的智力价值和更广泛的影响审查标准进行评估的支持。
项目成果
期刊论文数量(11)
专著数量(0)
科研奖励数量(0)
会议论文数量(0)
专利数量(0)
Object Reconfiguration with Simulation-Derived Feasible Actions
- DOI:10.1109/icra48891.2023.10160377
- 发表时间:2023-02
- 期刊:
- 影响因子:0
- 作者:Yiyuan Lee;Wil B. Thomason;Zachary K. Kingston;L. Kavraki
- 通讯作者:Yiyuan Lee;Wil B. Thomason;Zachary K. Kingston;L. Kavraki
Robowflex: Robot Motion Planning with MoveIt Made Easy
Robowflex:使用 MoveIt 轻松进行机器人运动规划
- DOI:10.1109/iros47612.2022.9981698
- 发表时间:2022
- 期刊:
- 影响因子:0
- 作者:Kingston, Zachary;Kavraki, Lydia E.
- 通讯作者:Kavraki, Lydia E.
A Sampling-based Motion Planning Framework for Complex Motor Actions
- DOI:10.1109/iros51168.2021.9636395
- 发表时间:2021-09
- 期刊:
- 影响因子:0
- 作者:Shlok Sobti;Rahul Shome;Swarat Chaudhuri;L. Kavraki
- 通讯作者:Shlok Sobti;Rahul Shome;Swarat Chaudhuri;L. Kavraki
Asymptotically Optimal Kinodynamic Planning Using Bundles of Edges
使用边束的渐近最优运动动力学规划
- DOI:10.1109/icra48506.2021.9560836
- 发表时间:2021
- 期刊:
- 影响因子:0
- 作者:Shome, Rahul;Kavraki, Lydia E.
- 通讯作者:Kavraki, Lydia E.
Human-Guided Motion Planning in Partially Observable Environments
部分可观测环境中的人类引导运动规划
- DOI:10.1109/icra46639.2022.9811893
- 发表时间:2022
- 期刊:
- 影响因子:0
- 作者:Quintero-Pena, Carlos;Chamzas, Constantinos;Sun, Zhanyi;Unhelkar, Vaibhav;Kavraki, Lydia E.
- 通讯作者:Kavraki, Lydia E.
{{
item.title }}
{{ item.translation_title }}
- DOI:
{{ item.doi }} - 发表时间:
{{ item.publish_year }} - 期刊:
- 影响因子:{{ item.factor }}
- 作者:
{{ item.authors }} - 通讯作者:
{{ item.author }}
数据更新时间:{{ journalArticles.updateTime }}
{{ item.title }}
- 作者:
{{ item.author }}
数据更新时间:{{ monograph.updateTime }}
{{ item.title }}
- 作者:
{{ item.author }}
数据更新时间:{{ sciAawards.updateTime }}
{{ item.title }}
- 作者:
{{ item.author }}
数据更新时间:{{ conferencePapers.updateTime }}
{{ item.title }}
- 作者:
{{ item.author }}
数据更新时间:{{ patent.updateTime }}
Lydia Kavraki其他文献
Lydia Kavraki的其他文献
{{
item.title }}
{{ item.translation_title }}
- DOI:
{{ item.doi }} - 发表时间:
{{ item.publish_year }} - 期刊:
- 影响因子:{{ item.factor }}
- 作者:
{{ item.authors }} - 通讯作者:
{{ item.author }}
{{ truncateString('Lydia Kavraki', 18)}}的其他基金
A Framework for Manipulation Planning and Execution under Uncertainty in Partially-Known Environments
部分已知环境中不确定性下的操纵规划和执行框架
- 批准号:
2336612 - 财政年份:2024
- 资助金额:
$ 42.5万 - 项目类别:
Standard Grant
Collaborative Research [FW-HTF-RM]: The Future of Nurse Training: Robotic Teaching Assistant Systems for Nursing Instructors
协作研究 [FW-HTF-RM]:护士培训的未来:护理讲师的机器人助教系统
- 批准号:
2326390 - 财政年份:2023
- 资助金额:
$ 42.5万 - 项目类别:
Standard Grant
Collaborative Research: FW-HTF-R: The Future of Robot-Assisted Nursing: Interactive AI Frameworks for Upskilling Nurses and Customizing Robot Assistance
合作研究:FW-HTF-R:机器人辅助护理的未来:用于提高护士技能和定制机器人辅助的交互式人工智能框架
- 批准号:
2222876 - 财政年份:2022
- 资助金额:
$ 42.5万 - 项目类别:
Standard Grant
IIBR:Informatics:RAPID: Structure-based identification of SARS-derived peptides with potential to induce broad protective immunity
IIBR:信息学:RAPID:基于结构的 SARS 衍生肽的鉴定,具有诱导广泛保护性免疫的潜力
- 批准号:
2033262 - 财政年份:2020
- 资助金额:
$ 42.5万 - 项目类别:
Standard Grant
NRI: FND: Robotic Collaboration through Scalable Reactive Synthesis
NRI:FND:通过可扩展反应合成进行机器人协作
- 批准号:
1830549 - 财政年份:2018
- 资助金额:
$ 42.5万 - 项目类别:
Standard Grant
RI: Small: Robot Motion Planning with an Experience Database
RI:小型:使用经验数据库进行机器人运动规划
- 批准号:
1718478 - 财政年份:2017
- 资助金额:
$ 42.5万 - 项目类别:
Standard Grant
SHF: Medium: Automating robot programming through constraint solving and motion planning
SHF:中:通过约束求解和运动规划实现机器人编程自动化
- 批准号:
1514372 - 财政年份:2015
- 资助金额:
$ 42.5万 - 项目类别:
Standard Grant
AF: Small: An Integrated Approach to Characterizing Conformational Changes of Large Proteins
AF:小:表征大蛋白质构象变化的综合方法
- 批准号:
1423304 - 财政年份:2014
- 资助金额:
$ 42.5万 - 项目类别:
Standard Grant
NRI: Small: Collaborative Research: Rethinking Motion Generation for Robots Operating in Human Workspaces
NRI:小型:协作研究:重新思考在人类工作空间中操作的机器人的运动生成
- 批准号:
1317849 - 财政年份:2013
- 资助金额:
$ 42.5万 - 项目类别:
Standard Grant
ABI Innovation: Mining Metabolic and Enzyme Databases for the Composition of Non-Canonical Pathways
ABI 创新:挖掘代谢和酶数据库以组成非规范途径
- 批准号:
1262491 - 财政年份:2013
- 资助金额:
$ 42.5万 - 项目类别:
Standard Grant
相似国自然基金
昼夜节律性small RNA在血斑形成时间推断中的法医学应用研究
- 批准号:
- 批准年份:2024
- 资助金额:0.0 万元
- 项目类别:省市级项目
tRNA-derived small RNA上调YBX1/CCL5通路参与硼替佐米诱导慢性疼痛的机制研究
- 批准号:n/a
- 批准年份:2022
- 资助金额:10.0 万元
- 项目类别:省市级项目
Small RNA调控I-F型CRISPR-Cas适应性免疫性的应答及分子机制
- 批准号:32000033
- 批准年份:2020
- 资助金额:24.0 万元
- 项目类别:青年科学基金项目
Small RNAs调控解淀粉芽胞杆菌FZB42生防功能的机制研究
- 批准号:31972324
- 批准年份:2019
- 资助金额:58.0 万元
- 项目类别:面上项目
变异链球菌small RNAs连接LuxS密度感应与生物膜形成的机制研究
- 批准号:81900988
- 批准年份:2019
- 资助金额:21.0 万元
- 项目类别:青年科学基金项目
基于small RNA 测序技术解析鸽分泌鸽乳的分子机制
- 批准号:31802058
- 批准年份:2018
- 资助金额:26.0 万元
- 项目类别:青年科学基金项目
肠道细菌关键small RNAs在克罗恩病发生发展中的功能和作用机制
- 批准号:31870821
- 批准年份:2018
- 资助金额:56.0 万元
- 项目类别:面上项目
Small RNA介导的DNA甲基化调控的水稻草矮病毒致病机制
- 批准号:31772128
- 批准年份:2017
- 资助金额:60.0 万元
- 项目类别:面上项目
基于small RNA-seq的针灸治疗桥本甲状腺炎的免疫调控机制研究
- 批准号:81704176
- 批准年份:2017
- 资助金额:20.0 万元
- 项目类别:青年科学基金项目
水稻OsSGS3与OsHEN1调控small RNAs合成及其对抗病性的调节
- 批准号:91640114
- 批准年份:2016
- 资助金额:85.0 万元
- 项目类别:重大研究计划
相似海外基金
CIF: RI: Small: Information-theoretic measures of dependencies and novel sample-based estimators
CIF:RI:小:依赖性的信息论测量和新颖的基于样本的估计器
- 批准号:
1929955 - 财政年份:2019
- 资助金额:
$ 42.5万 - 项目类别:
Continuing Grant
CIF: RI: Small: Information-theoretic measures of dependencies and novel sample-based estimators
CIF:RI:小:依赖性的信息论测量和新颖的基于样本的估计器
- 批准号:
1815535 - 财政年份:2018
- 资助金额:
$ 42.5万 - 项目类别:
Continuing Grant
RI: Small: Novel Generative Models for High-Diversity Visual Speculation
RI:小型:用于高多样性视觉推测的新颖生成模型
- 批准号:
1718221 - 财政年份:2017
- 资助金额:
$ 42.5万 - 项目类别:
Standard Grant
RI: Small: Lensless Cameras --- Enabling Novel Imaging Capabilities with Programmable Masks and Computational Imaging
RI:小型:无镜头相机 --- 通过可编程掩模和计算成像实现新颖的成像功能
- 批准号:
1618823 - 财政年份:2016
- 资助金额:
$ 42.5万 - 项目类别:
Standard Grant
RI: Small: Dynamic Attractor Computing: A Novel Computational Approach Applied Towards Temporal Pattern and Speech Recognition
RI:小型:动态吸引子计算:一种应用于时间模式和语音识别的新颖计算方法
- 批准号:
1420897 - 财政年份:2014
- 资助金额:
$ 42.5万 - 项目类别:
Standard Grant
RI: Small: Collaborative Research: Bio-inspired Collaborative Sensing with Novel Gliding Robotic Fish
RI:小型:协作研究:新型滑翔机器鱼的仿生协作传感
- 批准号:
1319874 - 财政年份:2013
- 资助金额:
$ 42.5万 - 项目类别:
Continuing Grant
RI: Small: Collaborative Research: Bio-inspired Collaborative Sensing with Novel Gliding Robotic Fish
RI:小型:协作研究:新型滑翔机器鱼的仿生协作传感
- 批准号:
1319602 - 财政年份:2013
- 资助金额:
$ 42.5万 - 项目类别:
Continuing Grant
RI: Small: Collaborative Research: 'Houston We Have A Solution': Novel Speech Processing Advancements for Analysis of Large Asynchronous Multi-Channel Audio Corpora
RI:小型:协作研究:“休斯顿,我们有一个解决方案”:用于分析大型异步多通道音频语料库的新颖语音处理进步
- 批准号:
1219130 - 财政年份:2012
- 资助金额:
$ 42.5万 - 项目类别:
Standard Grant
RI: Small: Collaborative Research: 'Houston, We Have a Solution': Novel Speech Processing Advancements for Analysis of Large Asynchronous Multi-Channel Audio Corpora
RI:小型:协作研究:“休斯顿,我们有一个解决方案”:用于分析大型异步多通道音频语料库的新颖语音处理进步
- 批准号:
1218159 - 财政年份:2012
- 资助金额:
$ 42.5万 - 项目类别:
Standard Grant
RI: Small: Novel structured regression approaches to high-dimensional motion analysis
RI:小:用于高维运动分析的新颖结构化回归方法
- 批准号:
0916812 - 财政年份:2009
- 资助金额:
$ 42.5万 - 项目类别:
Standard Grant