![]() ![]() Each plan is composed of a sequence of actions across the time horizon, where at each time step, the robot can take various different actions on different objects. To achieve the goal of the task, the robot needs to choose the optimal plan among a plurality of possible solutions. Solving such puzzles might seem like a no-brainer to humans, but for robots, to plan in various unseen scenarios is incredibly challenging. Multi-step manipulation task performed by our robot using CAVIN. The robot needs to first remove the obstacle from the bridge and then push the target object to its destination. However, there is an obstacle object on the bridge blocking the way. These steps need to be carefully composed together in a specific order, such that the stick will be picked up before being used for reaching the stone.Ĭan a robot solve sequential problems like this? Imagine if we ask the robot to push a target object to a goal position across a bridge. In each step, the crow interacts with the environment in a different way which eventually serves the goal of the task. But the crow intelligently makes its way to the goal by sequentially picking up a stick, using the stick to reach the stone, and taking the stone to the goal location. This is not an easy task since the stone is initially placed in a cage and the crow cannot get through the bars. For example, a behavioral ecology study has shown how a crow can plan to retrieve a stone and drop it into the box. Sequential problem solving is a remarkable ability demonstrated by humans and other intelligent animals. ![]()
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