{"201571":{"#nid":"201571","#data":{"type":"event","title":"Robotics and Intelligent Machines Center (RIM) Seminar-Tom\u00e1s Lozano-P\u00e9rez","body":[{"value":"\u003Cp\u003EUnless otherwise noted, all seminars are held in room 1116 in the Marcus Nanotechnology Building from 12-1 p.m. Seminars are open to the public.\u003C\/p\u003E\u003Cp class=\u0022p1\u0022\u003ETom\u00e1s Lozano-P\u00e9rez,\u0026nbsp;School of Engineering Professor of Teaching Excellence\u0026nbsp;at MIT, presents \u0022Integrated Task and Motion Planning in Belief Space\u0022\u0026nbsp;as part of the RIM Seminar Series.\u003C\/p\u003E\u003Cp class=\u0022p1\u0022\u003E\u003Cstrong\u003EAbstract\u003Cbr \/\u003E\u003C\/strong\u003EThis talk describe an integrated strategy for planning,\u0026nbsp;perception, state-estimation and action in complex mobile\u0026nbsp;manipulation domains based on planning in the belief space of\u0026nbsp;probability distributions over states, using hierarchical goal\u0026nbsp;regression (pre-image back-chaining). We develop a vocabulary of\u0026nbsp;logical expressions that describe sets of belief states, which are goals and subgoals in the planning process. We show that a\u0026nbsp;relatively small set of symbolic operators can give rise to\u0026nbsp;task-oriented perception in support of the manipulation goals. An implementation of this method is demonstrated in simulation and on a\u0026nbsp;real PR2 robot, showing robust, flexible solution of mobile\u0026nbsp;manipulation problems with multiple objects and substantial uncertainty.\u003C\/p\u003E","summary":null,"format":"limited_html"}],"field_subtitle":"","field_summary":[{"value":"\u003Cp\u003EUnless otherwise noted, all seminars are held in room 1116 in the Marcus Nanotechnology Building from 12-1 p.m. Seminars are open to the public.\u003C\/p\u003E\u003Cp class=\u0022p1\u0022\u003ETom\u00e1s Lozano-P\u00e9rez, School of Engineering Professor of Teaching Excellence\u0026nbsp;at MIT, presents \u0022Integrated Task and Motion Planning in Belief Space\u0022\u0026nbsp;as part of the RIM Seminar Series.\u003C\/p\u003E","format":"limited_html"}],"field_summary_sentence":[{"value":"Lozano-Perez of MIT presents \u0022Integrated Task and Motion Planning in Belief Space\u0022 as part of the RIM Seminar Series."}],"uid":"27255","created_gmt":"2013-03-24 15:22:26","changed_gmt":"2016-10-08 02:03:00","author":"Josie Giles","boilerplate_text":"","field_publication":"","field_article_url":"","field_event_time":{"event_time_start":"2013-04-03T13:00:00-04:00","event_time_end":"2013-04-03T14:00:00-04:00","event_time_end_last":"2013-04-03T14:00:00-04:00","gmt_time_start":"2013-04-03 17:00:00","gmt_time_end":"2013-04-03 18:00:00","gmt_time_end_last":"2013-04-03 18:00:00","rrule":null,"timezone":"America\/New_York"},"extras":[],"hg_media":{"201581":{"id":"201581","type":"image","title":"Tom\u00e1s Lozano-P\u00e9rez","body":null,"created":"1449179943","gmt_created":"2015-12-03 21:59:03","changed":"1475894856","gmt_changed":"2016-10-08 02:47:36","alt":"Tom\u00e1s Lozano-P\u00e9rez","file":{"fid":"196591","name":"lozano-perez_0.jpg","image_path":"\/sites\/default\/files\/images\/lozano-perez_0_0.jpg","image_full_path":"http:\/\/hg.gatech.edu\/\/sites\/default\/files\/images\/lozano-perez_0_0.jpg","mime":"image\/jpeg","size":139079,"path_740":"http:\/\/hg.gatech.edu\/sites\/default\/files\/styles\/740xx_scale\/public\/images\/lozano-perez_0_0.jpg?itok=kit6pRoJ"}}},"media_ids":["201581"],"related_links":[{"url":"http:\/\/robotics.gatech.edu\/","title":"Center for Robotics \u0026 Intelligent Machines"},{"url":"http:\/\/people.csail.mit.edu\/tlp\/","title":"Tom\u00e1s Lozano-P\u00e9rez"}],"groups":[{"id":"47223","name":"College of Computing"},{"id":"142761","name":"IRIM"}],"categories":[],"keywords":[{"id":"62371","name":"mobile manipulation"},{"id":"7817","name":"perception"},{"id":"10488","name":"PR2"},{"id":"667","name":"robotics"},{"id":"60041","name":"Robotics \u0026 Intelligent Machines Center (RIM)"},{"id":"166896","name":"seminar"}],"core_research_areas":[],"news_room_topics":[],"event_categories":[{"id":"1795","name":"Seminar\/Lecture\/Colloquium"}],"invited_audience":[],"affiliations":[],"classification":[],"areas_of_expertise":[],"news_and_recent_appearances":[],"phone":[],"contact":[{"value":"\u003Cp\u003EJosie Giles\u003Cbr \/\u003ERIM Communications Officer\u003Cbr \/\u003E\u003Ca href=\u0022mailto:josie@gatech.edu\u0022\u003Ejosie@gatech.edu\u003C\/a\u003E\u003C\/p\u003E","format":"limited_html"}],"email":[],"slides":[],"orientation":[],"userdata":""}}}