论文标题
通过工具构建来指导搜索创造性问题解决的创意问题
Feature Guided Search for Creative Problem Solving Through Tool Construction
论文作者
论文摘要
现实世界中的机器人应该能够适应不可预见的情况。特别是在工具使用的背景下，机器人可能无法访问他们完成任务所需的工具。在本文中，我们将重点放在任务计划背景下的工具构建问题上。我们寻求使机器人能够使用可用对象构建缺少工具的替代品，以完成给定的任务。我们介绍了功能指导搜索（FGS）算法，该算法能够在任务计划的背景下应用现有的启发式搜索方法，以有效地执行工具构造。 FGS在搜索有效的任务计划期间的物理属性（例如，形状，材料）的物理属性。我们的结果表明，对于刀具构建，FGS大幅度将标准启发式搜索方法的搜索工作降低了约93％。
Robots in the real world should be able to adapt to unforeseen circumstances. Particularly in the context of tool use, robots may not have access to the tools they need for completing a task. In this paper, we focus on the problem of tool construction in the context of task planning. We seek to enable robots to construct replacements for missing tools using available objects, in order to complete the given task. We introduce the Feature Guided Search (FGS) algorithm that enables the application of existing heuristic search approaches in the context of task planning, to perform tool construction efficiently. FGS accounts for physical attributes of objects (e.g., shape, material) during the search for a valid task plan. Our results demonstrate that FGS significantly reduces the search effort over standard heuristic search approaches by approximately 93% for tool construction.
