Back to the Future of Integrated Robot Systems

摘要

Robots are increasingly being used in different application domains due to rapid advancements in hardware and computational methods. However, state of the art methods for many problems in robotics are based on deep networks and similar data-driven models. These methods and models are resource-hungry and opaque, and they are known to provide arbitrary decisions in previously unseen situations, whereas practical robot application domains require transparent, multi-step, multi-level decision-making and ad hoc collaboration under resource constraints and open world uncertainty. In this talk, I argue that for widespread use of robots, we need to revisit principles such as refinement and adaptive satisficing, which can be traced back to the early pioneers of AI. We also need to make these principles the foundation of the architectures we develop for robots, with modern data-driven methods being just another tool in our toolbox. I then illustrate the potential benefits of this approach in the context of fundamental problems in robotics such as visual scene understanding, planning, changing-contact manipulation, and multiagent/human-agent collaboration.