Prospection, the act of predicting the consequences of many possible futures, is intrinsic to human planning and action, and may even be at the root of consciousness. Surprisingly, this idea has been explored comparatively little in robotics. In this work, we propose a neural network architecture and associated planning algorithm that (1) learns a representation of the world useful for generati...

Barto, Sutton and Watkins [2] introduced a grid task as a didactic example of temporal difference planning and asynchronous dynamical pre>gramming. This paper considers the effects of changing the coding of the input stimulus, and demonstrates that the self-supervised learning of a particular form of hidden unit representation improves performance.

This paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. In non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulation task. To this end, dynamic grasp concept is employed for a box manipulation task and corresponding conditions are obtained an...

We present a framework for coordinating autonomous planning agents. Together, these agents have to achieve a set of interdependent (elementary) tasks. Each of the agents receives a unique subset of tasks to achieve, but an agent may be dependent on other agents completing (some of) their tasks first. Each of the agents needs to make a plan in order to achieve its set of subtasks. Task dependenc...

We present an integrated Task-Motion Planning (TMP) framework for navigation in large-scale environments. Of late, TMP manipulation has attracted significant interest resulting a proliferation of different approaches. In contrast, received considerably less attention. Autonomous robots operating real-world complex scenarios require planning the discrete (task) space and continuous (motion) spac...

Purpose To present the implementation of a magnetic resonance imaging (MRI) pre-planning technique in multi-interstitial perineal and endocavitary gynecological brachytherapy. Material and methods We used a new fully MRI-compatible applicator that is capable to engage titanium needles, and an intrauterine tandem, developed in our department for the treatment of gynecological cervical cancer p...

We collected think-aloud, pre-test, post-test, and motivation data from 43 undergraduates to examine the impact of conceptual scaffolds on the fluctuation of certain motivation constructs and use of self-regulatory processes during learning with hypermedia. Participants were randomly assigned to either the No Scaffolding (NS) or Conceptual Scaffolding (CS) condition. During the experimental ses...