Apologies for multiple copies
We are glad to invite you to attend the 9th ICAPS workshop on Planning
and Robotics (PlanRob 2021).
The event will be an online virtual event and the program is full of
interesting papers.
The workshop program is also enriched by a keynote talk of Peter Stone
(University of
Texas at Austin) on "Task Planning and Learning for General-Purpose
Service Robots"
(see below for details).
You may find more details about the program on the workshop web page and
just below.
Thanks for your attention
Best,
Iman Awaad, Alberto Finzi, AndreA Orlandini
PlanRob 2021 Chairs
** CALL FOR PARTICIPATION **
9th ICAPS Workshop on Planning and Robotics
(PlanRob‚ 2021)
http://icaps21.icaps-conference.org/workshops/PlanRob/
ICAPS 2021 Workshop
(Virtually in) Guangzhou, China
August 4 and August 5, 2021
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Program (Schedule in GMT)
***************
*August 4th*
10:00 10:10 Intro
Task & Motion Planning 1
10:10 10:35 24./Combining Task and Motion Planning through
Rapidly-exploring Random Trees./Riccardo Caccavale and Alberto Finzi
10:35 11:00 14./Limits and Possibilities of Multi Goal Task Motion
Planning./Stefan Edelkamp
11:00 11:25 13./Extended Task and Motion Planning of Long-horizon
Robot Manipulation./Tianyu Ren, Georgia Chalvatzaki and Jan Peters
11:25 11:50 11./Multi-objective Path-based D* Lite./Zhongqiang Ren,
Sivakumar Rathinam and Howie Choset
11:50 12:10 Break
Space and Planetary Rover
12:10 12:35 12./MarsExplorer: Exploration of Unknown Terrains via Deep
Reinforcement Learning and Procedurally Generated
Environments./Dimitrios Koutras, Athanasios Kapoutsis, Angelos
Amanatiadis and Elias Kosmatopoulos
12:35 13:00 8./A Sampling-Based Optimization Approach to Handling
Environmental Uncertainty for a Planetary Lander./Connor Basich, Daniel
Wang, Joseph Russino, Steve Chien and Shlomo Zilberstein
13:00 13:25 21./Deliberation and Plan Execution for Intra-vehicle
Robotic Activities in Space. J./Benton, Abiola Akanni and Robert Morris
13:25 13:45 Break
Cognitive and Trustworthy Robotics
13:45 14:10 17./Non-monotonic Logical Reasoning Guiding Axiom
Induction from Deep Networks for Transparent Decision Making in
Robotics./Mohan Sridharan and Tiago Mota
14:10 14:35 25./Two-layered Architecture for Telepresence Robots:
Combining Personalization and Reactivity./Gloria Beraldo, Riccardo De
Benedictis, Amedeo Cesta and Gabriella Cortellessa
14:35 15:00 19./Trust-Aware Planning:Modeling Trust Evolution in
Longitudinal Human-Robot Interaction./Zahra Zahedi, Mudit Verma, Sarath
Sreedharan and Subbarao Kambhampati
15:00 16:00 Keynote by Peter Stone
*August 5th*
Planning with Uncertainty
10:00 10:25 3./An Interactive Approach for the Analysis and Shielding
of Partially Observable Monte Carlo Planning Policies./Giulio Mazzi,
Giovanni Bagolin, Alberto Castellini and Alessandro Farinelli
10:25 10:50 4./Combining Temporal and Probabilistic Planning for
Robots Operating in Extreme Environments./Jun Hao Alvin Ng, Yaniel
Carreno, Yvan Petillot and Ron Petrick
10:50 11:15 7./Probabilistic Plan Legibility with Off-the-shelf
Planners./Michele Persiani and Thomas Hellstrom
11:15 11:40 23./Compiling Contingent Planning into Temporal Planning
for Robust AUV Deployments./Yaniel Carreno, Yvan Petillot and Ron Petrick
11:40 12:00 Break
Task & Motion Planning 2
12:00 12:25 15./SM2P: Towards a Robust Co-Pilot System for Helicopter
EMS./Ian Mallet, Marcus Hoerger, Surabhi Gupta, Nisal Jayalath, Felipe
Trevizan, Andrew Hunt, Hanna Kurniawati and Christophe Guettier
12:25 12:50 20./Learning Sampling Distributions for Efficient
High-Dimensional Motion Planning./Naman Shah, Abhyudaya Srinet and
Siddharth Srivastava
12:50 13:15 18./Benchmarking Sampling-based Motion Planning Pipelines
for Wheeled Mobile Robots. Eric Heiden, Luigi Palmieri, Leonard Bruns,
Kai O. Arras, Gaurav S./Sukhatme and Sven Koenig
13:15 13:40 6./Construction Site Automation: Open Challenges for
Planning and Robotics./Paolo Forte, Anna Mannucci, Henrik Andreasson and
Federico Pecora
13:40 14:00 Break
Planning and Execution
14:00 14:25 2./An Action Interface Manager for
ROSPlan./Stefan-Octavian Bezrucav, Gerard Canal, Michael Cashmore and
Burkhard Corves
14:25 14:50 10./Real-time Planning and Execution for Industrial
Operations./Filip Dvorak
14:50 15:15 16./State-Temporal Decoupling of Multi-Agent Plans under
Limited Communication./Yuening Zhang, Jingkai Chen, Eric Timmons,
Marlyse Reeves and Brian Williams
15:15 15:40 Closing
Keynote Talk
On August 4th 3pm GMT byDr. Peter Stone <https://www.cs.utexas.edu/~pstone/>
Title: Task Planning and Learning for General-Purpose Service
Robots
*Abstract:*
Despite recent progress in the capabilities of autonomous robots,
especially learned robot skills, there remain significant challenges in
building robust, scalable, and general-purpose systems for service
robots. Our research aims to answer the question "How can symbolic
reasoning and machine learning methods be combined to create
general-purpose service robots that reason about high-level actions and
adapt to the real world?"
We approach this question from two directions. First, we introduce
planning algorithms that adapt to the environment using machine learning
and exchanging knowledge with other agents. These algorithms allow
robots to plan in open-world scenarios, to plan around other robots
while avoiding conflicts and realizing synergies, and to adapt plans by
learning action costs throughout executions in the real world. Second,
we develop reinforcement learning (RL) methods for service robot
systems. These methods address the challenges of maximizing the
long-term average reward in continuing tasks, as well as improving
sample efficiency by leveraging reasoning and planning via reward
shaping. Taken together, our research makes significant strides towards
solving the grand challenge of creating general-purpose service robots.
[Based on joint work with Yuqian Jiang and others]
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AndreA Orlandini PhD
National Research Council of Italy
Institute for Cognitive Science and Technology
Phone: +39-06-44595-223 E-mail: andrea.orland...@istc.cnr.it
Fax: +39-06-44595-243 Url: http://www.istc.cnr.it/group/pst
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Me, the one and only person that never leaves me alone!
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