Object Action Complexes as an Interface for Planning and Robot Control

  • Geib C
  • Mour K
  • Petrick R
 et al. 
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Much prior work in integrating high-level artificial intelligence planning technology with low-level robotic control has foundered on the significant representational differences between these two areas of research. We discuss a proposed solution to this representational discontinuity in the form of object-action complexes (OACs). The pairing of actions and objects in a single interface representation captures the needs of both reasoning levels, and will enable machine learning of high-level action representations from low-level control representations.

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  • Christopher Geib

  • Kira Mour

  • Ron Petrick

  • Nico Pugeault

  • Mark Steedman

  • Norbert Krueger

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