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 language | English |
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| Title of host publication | 2021 IEEE International Conference on Robotics and Automation (ICRA) |
| Publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| Number of pages | 7 |
| Publication status | Accepted/In press - 28 Feb 2021 |
| Event | 2021 IEEE International Conference on Robotics and Automation - Xi'an, China Duration: 30 May 2021 → 5 Jun 2021 http://www.icra2021.org/ |
Conference
| Conference | 2021 IEEE International Conference on Robotics and Automation |
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| Abbreviated title | ICRA 2021 |
| Country | China |
| City | Xi'an |
| Period | 30/05/21 → 5/06/21 |
| Internet address |