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Setup

This tutorial offers a comprehensive introduction to rule-based deductive reasoning through practical exercises in a blocks world simulation. Participants will learn to model spatial relationships, such as the positioning and stacking of blocks using logical definitions and primitive actions. The exercises include constructing pyramids and executing skills like unstacking and stacking blocks. This hands-on experience aims to enhance problem-solving abilities using a structured approach to manipulation tasks in a simulated environment.

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Setup

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Presentation Transcript

  1. Setup Temporary webpage for this tutorial: http://www.dongkyu.com/ICARUS_Tutorial/

  2. Exercise 1: Rule-based Deductive Reasoning Blocks World A B C D (block A xpos 2 ypos 2 width 2 height 2 shade 1) (block B xpos 4 ypos 2 width 2 height 2 shade 1) (block C xpos 6 ypos 2 width 2 height 2 shade 1) (block D xpos 8 ypos 2 width 2 height 2 shade 1) (table T xpos 0 ypos 0 width 14 height 2 shade 1)

  3. Concepts to Define (on ?block1 ?block2): ?block1 is on top of ?block2. (on-table ?block ?table): ?block is sitting on the ?table. (holding ?block): The gripper is holding ?block. (wider-than ?block1 ?block2): ?block1 is wider than ?block2. (pyramid ?block1 ?block2): There exists a pyramid of at least two blocks, with ?block1 at the top and ?block2 at the bottom. For the purposes of this exercise, a pyramid is a structure in which blocks are stacked from bottom to top in order of ascending width.

  4. Tests and Expected Output A B C D Scene 1 (ON-TABLE A T1) (ON-TABLE B T1) (ON-TABLE C T1) (ON-TABLE D T1)

  5. Tests and Expected Output A B C D Scene 7 ((PYRAMID A D) (PYRAMID B D) (PYRAMID C D) (WIDER-THAN B A) (WIDER-THAN C A) (WIDER-THAN C B) (WIDER-THAN D A) (WIDER-THAN D B) (WIDER-THAN D C) (ON-TABLE D T1) (ON A B) (ON B C) (ON C D))

  6. Exercise 2: Skill Execution Blocks World D B A C D

  7. Primitive Skills to Define (unstack ?block): move ?block off of another block (pickup ?block): move ?block off of a table (stack ?block ?to): put ?block onto another block ?to (putdown ?block): put ?block on a table Available actions: (*grasp-and-raise ?block) (*place-and-ungrasp ?block ?to)

  8. Complex Skills to Define (make-clear ?block): make a situation where there is no other blocks on ?block (lift-block ?block): make a situation where the gripper is holding ?block (put-on ?block ?to): put ?block on another block ?to (build-pyramid ?block1 ?block2): build a pyramid with ?block1 and ?block2

  9. Test C B A A B C Type: (make-problem ((on a b))) (grun)

  10. Exercise 3: Problem Solving Blocks World C B A A B C

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