The ability to plan for multi-step manipulation tasks in unseen situations is crucial future home robots. But collecting sufficient experience data end-to-end learning often infeasible the real world, as deploying robots many environments can be prohibitively expensive. On other hand, large-scale scene understanding datasets contain diverse and rich semantic geometric information. how leverage ...

In industrial problems both the task and environment are often very complex. Local planners are not suucient and, since tasks often involve changing the environment, global planners are limited by time constraints. This paper adopts the notion that pre-processing of the known environment, in order to generate a roadmap, can signiicantly improve on-line path planning tasks. We present results ob...

We describe an integrated strategy for planning, perception, state-estimation and action in complex mobile manipulation domains based on planning in the belief space of probability distributions over states using hierarchical goal regression (pre-image back-chaining). We develop a vocabulary of logical expressions that describe sets of belief states, which are goals and subgoals in the planning...

25 In this study, we characterized the patterns and timing of cortical activation of 26 visually-guided movements in a task with critical temporal demands. In particular, we 27 investigated the neural correlates of motor planning and on-line adjustments of reaching 28 movements in a choice-reaction time task. High-density EEG (256 electrodes) was 29 recorded in 13 subjects performing reaching m...

Antisaccades produce longer reaction times (RT) than their prosaccade counterparts and this latency increase has been linked to an oculomotor 'pre-setting' that prevents the evocation of a stimulus-driven prosaccade. Moreover, a consequence of oculomotor pre-setting is a lengthening of the RTs associated with a subsequent prosaccade. The goal of the present study was to determine whether the co...

Abstract Task planning is a crucial component in facilitating robot multi-task manipulations. Language-based task methods offer practicality receiving commands from humans real-life scenarios and require only low-cost labeled data. However, existing often rely on sequence models for planning, which primarily focus mapping language to sequences of sub-tasks while neglecting the knowledge about t...

BACKGROUND Voluntary motor deficits are a common feature in Huntington's disease (HD), characterised by movement slowing and performance inaccuracies. This deficit may be exacerbated when visual cues are restricted. OBJECTIVE To characterize the upper limb motor profile in HD with various levels of difficulty, with and without visual targets. METHODS Nine premanifest HD (pre-HD), nine early...