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ProbRobScene: A Probabilistic Specification Language for 3D Robotic Manipulation Environments}

2020-11-02 17:01:56
Craig Innes, Subramanian Ramamoorthy

Abstract

Robotic control tasks are often first run in simulation for the purposes of verification, debugging and data augmentation. Many methods exist to specify what task a robot must complete, but few exist to specify what range of environments a user expects such tasks to be achieved in. ProbRobScene is a probabilistic specification language for describing robotic manipulation environments. Using the language, a user need only specify the relational constraints that must hold between objects in a scene. ProbRobScene will then automatically generate scenes which conform to this specification. By combining aspects of probabilistic programming languages and convex geometry, we provide a method for sampling this space of possible environments efficiently. We demonstrate the usefulness of our language by using it to debug a robotic controller in a tabletop robot manipulation environment.

Abstract (translated)

URL

https://arxiv.org/abs/2011.01126

PDF

https://arxiv.org/pdf/2011.01126.pdf


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