Abstraction in data-sparse task transfer

摘要

When a robot adapts a learned task for a novel environment, any changes to objects in the novel environment have an unknown effect on its task execution. For example, replacing an object in a pick-and-place task affects where the robot should target its actions, but does not necessarily affect the underlying action model. In contrast, replacing a tool that the robot will use to complete a task will effectively alter its end-effector pose with respect to the robot's base coordinate system, and thus the robot's motion must be replanned accordingly.