Learning and Planning for Temporally Extended Tasks in Unknown Environments
Christopher Bradley Adam Pacheck Gregory J. Stein Sebastian Castro Hadas Kress-Gazit Nicholas Roy Christopher Bradley Adam Pacheck Gregory J. Stein Sebastian Castro Hadas Kress-Gazit Nicholas Roy
We propose a novel planning technique for satisfying tasks specified in temporal logic in partially revealed environments. We define high-level actions derived from the environment and the given task itself, and estimate how each action contributes to progress towards completing the task. As the map is revealed, we estimate the cost and probability of success of each action from images and an enco...