论文标题
PORROBSCENE：3D机器人操纵环境的概率规范语言
ProbRobScene: A Probabilistic Specification Language for 3D Robotic Manipulation Environments
论文作者
论文摘要
机器人控制任务通常首先在模拟中运行，以进行验证，调试和数据增强。存在许多方法来指定机器人必须完成的任务，但是很少有用于指定用户期望实现此类任务的环境范围的范围。PORROBSCENE是一种用于描述机器人操作环境的概率规范语言。使用该语言，用户只需要指定场景中对象之间必须保留的关系约束。然后，PORROBSCENE将自动生成符合此规范的场景。通过结合概率编程语言和凸几何形状的各个方面，我们提供了一种有效抽样可能环境空间的方法。我们通过在桌面机器人操纵环境中调试机器人控制器来证明我们的语言的实用性。
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 will then automatically generate 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.
