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ROBO SOAR: An Integration of external interaction, planning. And learning using Soar.

ROBO SOAR: An Integration of external interaction, planning. And learning using Soar. John . E. Laird, Eric. S. Yager, M. Hucka, C. M. Tuck, 1991 Presented by Roman Ilin. THE ROBOT AND ITS TASKS. Capabilities. Problem Solving with Incomplete Information

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ROBO SOAR: An Integration of external interaction, planning. And learning using Soar.

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  1. ROBO SOAR: An Integration of external interaction, planning. And learning using Soar. John . E. Laird, Eric. S. Yager, M. Hucka, C. M. Tuck, 1991 Presented by Roman Ilin

  2. THE ROBOT AND ITS TASKS

  3. Capabilities • Problem Solving with Incomplete Information • Problem solving with delayed perception • Planning • Learning from external guidance • Interruption and reactivity • Improve efficiency • Improve correctness

  4. System Architecture

  5. Primitive Operators – commands sent to the robot controller (snap-in, snap-out not shown)

  6. Initial Operators • ALIGN-BLOCKS • TURN-OUT-LIGHT • Initially the operators will lead to impasses and learning.

  7. Example of problem solvinggoals: align-blocks, align block-pair, puma-arm-command

  8. Guided Problem Solving – planning I

  9. Guided Problem Solving – planning I

  10. Refining Knowledge I

  11. Refining Knowledge II

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