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simmediummobile-manipulationmetric · varies
The Law of Task-Achieving Body Motion: Axiomatizing Success of Robot Manipulation Actions
Description
Autonomous agents that perform everyday manipulation actions need to ensure that their body motions are semantically correct with respect to a task request, causally effective within their environment, and feasible for their embodiment. In order to enable robots to verify these properties, we introduce the Law of Task-Achieving Body Motion as an axiomatic correctness specification for body motions. To that end we introduce scoped Task-Environment-Embodiment (TEE) classes that represent world sta