ProbRobScene: A Probabilistic Specification Language for 3D Robotic Manipulation Environments

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Robotic control tasks are often first run in simulation for the purposes of verification, debugging and data augmentation. Many methods exist to specify what task a robot must complete, but few exist to specify what range of environments a user expects such tasks to be achieved in. ProbRobScene is a probabilistic specification language for describing robotic manipulation environments. Using the language, a user need only specify the relational constraints that must hold between objects in a scene. ProbRobScene then automatically generates scenes which conform to this specification. By combining aspects of probabilistic programming languages and convex geometry, we provide a method for sampling this space of possible environments efficiently. We demonstrate the usefulness of our language by using it to debug a robotic controller in a tabletop robot manipulation environment.
Original languageEnglish
Title of host publication2021 IEEE International Conference on Robotics and Automation (ICRA)
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages7
Publication statusAccepted/In press - 28 Feb 2021
Event2021 IEEE International Conference on Robotics and Automation - Xi'an, China
Duration: 30 May 20215 Jun 2021
http://www.icra2021.org/

Conference

Conference2021 IEEE International Conference on Robotics and Automation
Abbreviated titleICRA 2021
CountryChina
CityXi'an
Period30/05/215/06/21
Internet address

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