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...

In order for a mobile robot to accomplish a non-trivial task, the task must be described in terms of primitive actions of the robot’s actuators. Our contention is that the transformation from the high level description of the task to the primitive actions should be performed primarily at execution time, when knowledge about the environment can be obtained through sensors. We propose to produce ...

Tool improvisation analogies are a special case of motion and force analogies that appear to be implemented pre-conceptually, in many species, by event-file binding and action planning. A detailed reconstruction of the analogical reasoning steps involved in Rutherford's and Bohr's development of the first quantized-orbit model of atomic structure is used to show that human motion and force anal...

In this paper we refer to the very important role of detailed and advanced planning, as well as to the optimization of radio network of the next generation wireless networks that offers multimedia traffic. Next generation mobile operators that are adapting 3G mobile technologies and beyond are facing more and more challenges connected to the design and planning of the factual multi service radi...

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...