Affordance-Based Planning for Assisting Humans in Daily Activities

F. Mastrogiovanni, Antonello Scalmato, A. Sgorbissa, R. Zaccaria
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引用次数: 4

Abstract

The focus of the present work is on daily activity planning, i.e., representations and algorithms able to produce a course of action to deal efficiently with problems of daily living. To achieve this, the article proposes a functional representation of everyday objects, places and actions described in terms of affordances. Its contributions are two--fold: i) it proposes to represent affordances and capabilities as regions in a proper affordance and capability space, and to describe such regions using neural maps; ii) it proposes to decompose the planning process into different activities, by introducing a phase referred to as Problem Awareness preceding Action Planning, which allows to reduce the planning space in order to tackle large-scale planning problems.
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辅助人类日常活动的基于能力的规划
目前工作的重点是日常活动规划,即能够产生有效处理日常生活问题的行动方针的表示和算法。为了实现这一目标,本文提出了一种日常物品、地点和行为的功能表示,并根据启示进行描述。它的贡献有两个方面:i)它提出在适当的功能和能力空间中将功能和能力表示为区域,并使用神经地图来描述这些区域;ii)建议将规划过程分解为不同的活动,引入一个称为“问题意识先于行动规划”的阶段,从而减少规划空间,以解决大规模的规划问题。
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