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Designing Libraries of Transparent, General and Restartable Activity Plans for a Simulated Autonomous Service Robot
- 1. Designing Libraries of Transparent, General and Restartable Activity Plans for a Simulated Autonomous Service Robot Andreas J. Häusler Intelligent Autonomous Systems Group Institut für Informatik Technische Universität München February 1, 2006 Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 2. Motivation Simulation Environment Plan Library Evaluation Summary Outline 1 Motivation 2 Simulation Environment 3 Plan Library 4 Evaluation Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 3. Motivation Simulation Environment Plan Library Evaluation Summary Outline 1 Motivation 2 Simulation Environment 3 Plan Library 4 Evaluation Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 4. Motivation Simulation Environment Plan Library Evaluation Summary Robots Today current stage acting most accurately highly specialized do unpleasant, dangerous or often recurring work drawbacks focused on single tasks hardware depends on application acting in static environments need supervision in most cases Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 5. Motivation Simulation Environment Plan Library Evaluation Summary Robots Today current stage acting most accurately highly specialized do unpleasant, dangerous or often recurring work drawbacks focused on single tasks hardware depends on application acting in static environments need supervision in most cases Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 6. Motivation Simulation Environment Plan Library Evaluation Summary Challenges to Future Robots robots of the future will have to be. . . adaptable to dynamically changing environments robust to failures able to act on their own able to accomplish a wide range of different tasks much cheaper than today Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 7. Motivation Simulation Environment Plan Library Evaluation Summary Challenges to Future Robots robots of the future will have to be. . . adaptable to dynamically changing environments robust to failures able to act on their own able to accomplish a wide range of different tasks much cheaper than today task diversity Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 8. Motivation Simulation Environment Plan Library Evaluation Summary Challenges to Future Robots robots of the future will have to be. . . adaptable to dynamically changing environments robust to failures able to act on their own able to accomplish a wide range of different tasks much cheaper than today failure recovery Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 9. Motivation Simulation Environment Plan Library Evaluation Summary Challenges to Future Robots robots of the future will have to be. . . adaptable to dynamically changing environments robust to failures able to act on their own able to accomplish a wide range of different tasks much cheaper than today ⇒ change from industrial to every-day household robots Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 10. Motivation Simulation Environment Plan Library Evaluation Summary Requirements The crucial point lies in how the robot’s behaviour is implemented. It has to be. . . transparent general restartable Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 11. Motivation Simulation Environment Plan Library Evaluation Summary Requirements The crucial point lies in how the robot’s behaviour is implemented. It has to be. . . transparent general restartable transparency inferences about actions meaningful code structures code abstraction improved understandability efficient learning Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 12. Motivation Simulation Environment Plan Library Evaluation Summary Requirements The crucial point lies in how the robot’s behaviour is implemented. It has to be. . . transparent general restartable generality adaptability task reusability Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 13. Motivation Simulation Environment Plan Library Evaluation Summary Requirements The crucial point lies in how the robot’s behaviour is implemented. It has to be. . . transparent general restartable restartability failure recovery task interruptability repeatable results of task execution Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 14. Motivation Simulation Environment Plan Library Evaluation Summary Outline 1 Motivation 2 Simulation Environment 3 Plan Library 4 Evaluation Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 15. Motivation Simulation Environment Plan Library Evaluation Summary The Environment dynamically changing oriented at the real world allows manipulation Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 16. Motivation Simulation Environment Plan Library Evaluation Summary The B21 Robot environmental sensors internal sensors actors knowledge bases Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 17. Motivation Simulation Environment Plan Library Evaluation Summary The B21 Robot environmental sensors camera sonar sensors laser sensor belt internal sensors actors knowledge bases Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 18. Motivation Simulation Environment Plan Library Evaluation Summary The B21 Robot environmental sensors internal sensors touch sensors rotation sensors actors knowledge bases Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 19. Motivation Simulation Environment Plan Library Evaluation Summary The B21 Robot environmental sensors internal sensors actors robot motion actors hand movement actors arm movement actors knowledge bases Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 20. Motivation Simulation Environment Plan Library Evaluation Summary The B21 Robot environmental sensors internal sensors actors knowledge bases environmental belief entity-specific knowledge heuristics Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 21. Motivation Simulation Environment Plan Library Evaluation Summary The B21 Robot environmental sensors internal sensors actors knowledge bases required abilities performing different tasks failure awareness Video Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 22. Motivation Simulation Environment Plan Library Evaluation Summary Outline 1 Motivation 2 Simulation Environment 3 Plan Library 4 Evaluation Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 23. Motivation Simulation Environment Plan Library Evaluation Summary The Concept Behind Activity Plans Goals Goal Routines Low Level Routines High Level Plans Low Level Plans Basic Control Commands Lisp Processes External Processes composition activity plans goals goal routines low-level routines collections of goal achievements define what task has to be fulfilled instead of how allow the robot to know about the task’s purpose Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 24. Motivation Simulation Environment Plan Library Evaluation Summary The Concept Behind Activity Plans Goals Goal Routines Low Level Routines High Level Plans Low Level Plans Basic Control Commands Lisp Processes External Processes composition activity plans goals goal routines low-level routines directives for robotic actions slots constitute “predicates” for fulfillment tests Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 25. Motivation Simulation Environment Plan Library Evaluation Summary The Concept Behind Activity Plans Goals Goal Routines Low Level Routines High Level Plans Low Level Plans Basic Control Commands Lisp Processes External Processes composition activity plans goals goal routines low-level routines specify actions for goal achieves high-level plans contain failure monitoring low-level plans contain “computations” Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 26. Motivation Simulation Environment Plan Library Evaluation Summary The Concept Behind Activity Plans Goals Goal Routines Low Level Routines High Level Plans Low Level Plans Basic Control Commands Lisp Processes External Processes composition activity plans goals goal routines low-level routines directly controlling the robot’s actors contain no further goal achieves act on the process level of the robot’s architecture Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 27. Motivation Simulation Environment Plan Library Evaluation Summary Designing the Plans roadmap 1 thinking about the requirements 2 introducing goal inheritance 3 specifying the execution order 4 construction always keep in mind the demanded behaviour rembember to think about possible failure situations also consider recovery approaches if applicable Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 28. Motivation Simulation Environment Plan Library Evaluation Summary Designing the Plans roadmap 1 thinking about the requirements 2 introducing goal inheritance 3 specifying the execution order 4 construction simplifies the implementation process enables “semantical” structuring of the plans Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 29. Motivation Simulation Environment Plan Library Evaluation Summary Designing the Plans Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 30. Motivation Simulation Environment Plan Library Evaluation Summary Designing the Plans roadmap 1 thinking about the requirements 2 introducing goal inheritance 3 specifying the execution order 4 construction allows bottom-up implementation and testing enables “semantical” structuring of the control flow allows further distinction between high-level and low-level plans Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 31. Motivation Simulation Environment Plan Library Evaluation Summary Designing the Plans Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 32. Motivation Simulation Environment Plan Library Evaluation Summary Designing the Plans roadmap 1 thinking about the requirements 2 introducing goal inheritance 3 specifying the execution order 4 construction building a collection of heuristical functions always have in mind that calls to heuristics and trajectory computations reside in low-level plans failure monitoring and recovery always are contained in high-level plans Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 33. Motivation Simulation Environment Plan Library Evaluation Summary Capability of the Plans the demands transparency generality restartability others achieving transparency through proper implementation splitting up the activity plans externalizing the heuristical functions Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 34. Motivation Simulation Environment Plan Library Evaluation Summary Capability of the Plans the demands transparency generality restartability others thoughts about the achievement of generality coping with “new” situations adapting to changed demands splitting up the activity plans Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 35. Motivation Simulation Environment Plan Library Evaluation Summary Capability of the Plans the demands transparency generality restartability others restartability through failure recovery implementing sophisticated failure monitoring using the knowledge base interruptable activity plans Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 36. Motivation Simulation Environment Plan Library Evaluation Summary Capability of the Plans the demands transparency generality restartability others robustness of the plans support for future learning mechanisms Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 37. Motivation Simulation Environment Plan Library Evaluation Summary Outline 1 Motivation 2 Simulation Environment 3 Plan Library 4 Evaluation Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 38. Motivation Simulation Environment Plan Library Evaluation Summary Evaluation Scenarios for ensuring high levels of generality and restartability however, these cannot be tested separately ⇒ scenarios for the overall performance are needed evaluation of transparency only through “reading the code” Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 39. Motivation Simulation Environment Plan Library Evaluation Summary Evaluation Scenarios for ensuring high levels of generality and restartability however, these cannot be tested separately ⇒ scenarios for the overall performance are needed evaluation of transparency only through “reading the code” Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 40. Motivation Simulation Environment Plan Library Evaluation Summary Evaluation Scenarios for ensuring high levels of generality and restartability however, these cannot be tested separately ⇒ scenarios for the overall performance are needed evaluation of transparency only through “reading the code” Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 41. Motivation Simulation Environment Plan Library Evaluation Summary Evaluation Scenarios for ensuring high levels of generality and restartability however, these cannot be tested separately ⇒ scenarios for the overall performance are needed evaluation of transparency only through “reading the code” Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 42. Motivation Simulation Environment Plan Library Evaluation Summary Evaluation Scenarios prerequisites to proper testing main focus on failure monitoring and recovery ⇒ think about all failures the robot is aware of, and the situations in which they will be invoked how the robot has to react low-level plan recovery only as consecutive failures tests compare “normal” to “non-recovery” behaviour Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 43. Motivation Simulation Environment Plan Library Evaluation Summary Evaluation Scenarios prerequisites to proper testing main focus on failure monitoring and recovery ⇒ think about all failures the robot is aware of, and the situations in which they will be invoked how the robot has to react low-level plan recovery only as consecutive failures tests compare “normal” to “non-recovery” behaviour Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 44. Motivation Simulation Environment Plan Library Evaluation Summary Evaluation Scenarios prerequisites to proper testing main focus on failure monitoring and recovery ⇒ think about all failures the robot is aware of, and the situations in which they will be invoked how the robot has to react low-level plan recovery only as consecutive failures tests compare “normal” to “non-recovery” behaviour Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 45. Motivation Simulation Environment Plan Library Evaluation Summary Evaluation Scenarios prerequisites to proper testing main focus on failure monitoring and recovery ⇒ think about all failures the robot is aware of, and the situations in which they will be invoked how the robot has to react low-level plan recovery only as consecutive failures tests compare “normal” to “non-recovery” behaviour Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 46. Motivation Simulation Environment Plan Library Evaluation Summary Evaluation Scenarios prerequisites to proper testing main focus on failure monitoring and recovery ⇒ think about all failures the robot is aware of, and the situations in which they will be invoked how the robot has to react low-level plan recovery only as consecutive failures tests compare “normal” to “non-recovery” behaviour Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 47. Motivation Simulation Environment Plan Library Evaluation Summary Evaluation Scenarios the “pick-up”-scenario for testing the stability of low-level plans randomized robot- and object-positions in each pass losing the object had been provoked success if the robot managed to lift the object again Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 48. Motivation Simulation Environment Plan Library Evaluation Summary Evaluation Scenarios the “pick-up”-scenario for testing the stability of low-level plans randomized robot- and object-positions in each pass losing the object had been provoked success if the robot managed to lift the object again the “move-entity”-scenario testing the robot’s general performance randomized starting positions success if the object was placed on the table Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 49. Motivation Simulation Environment Plan Library Evaluation Summary Results of the Evaluation performance of pick-up-cup actions; entity-lost failure provoked Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 50. Motivation Simulation Environment Plan Library Evaluation Summary Results of the Evaluation performance of put-down-cup actions Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 51. Motivation Simulation Environment Plan Library Evaluation Summary Results of the Evaluation performance of the robot’s arms when picking up a cup Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 52. Motivation Simulation Environment Plan Library Evaluation Summary Summary reflecting the requirements transparency through introducing a goal hierarchy generality through heuristical functions restartability through failure recovery Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 53. Motivation Simulation Environment Plan Library Evaluation Summary Summary reflecting the requirements transparency through introducing a goal hierarchy generality through heuristical functions restartability through failure recovery results of the work universal approach for implementing activity plans improved performance through failure recovery appearance of (rudimentary) emergent behaviour the library provides a reliable base for further work Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 54. Motivation Simulation Environment Plan Library Evaluation Summary Summary perspectives for the future improving the present plans adding new plans and new kinds of behaviour inserting new technologies Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 55. Motivation Simulation Environment Plan Library Evaluation Summary Summary perspectives for the future improving the present plans adding new plans and new kinds of behaviour inserting new technologies Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 56. Motivation Simulation Environment Plan Library Evaluation Summary Summary perspectives for the future improving the present plans adding new plans and new kinds of behaviour inserting new technologies Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler
- 57. Motivation Simulation Environment Plan Library Evaluation Summary Summary perspectives for the future improving the present plans adding new plans and new kinds of behaviour inserting new technologies In our vision, the robot shall sometime be like a “human butler” to private households. Intelligent Autonomous Systems Department of Informatics Technische Universität München Designing Activity Plan Libraries Andreas J. Häusler