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Combining Planning and Learning of Behavior Trees for Robotic Assembly [article]

Jonathan Styrud, Matteo Iovino, Mikael Norrlöf, Mårten Björkman, Christian Smith
2021 arXiv   pre-print
Industrial robots can solve very complex tasks in controlled environments, but modern applications require robots able to operate in unpredictable surroundings as well. An increasingly popular reactive policy architecture in robotics is Behavior Trees but as with other architectures, programming time still drives cost and limits flexibility. There are two main branches of algorithms to generate policies automatically, automated planning and machine learning, both with their own drawbacks. We
more » ... pose a method for generating Behavior Trees using a Genetic Programming algorithm and combining the two branches by taking the result of an automated planner and inserting it into the population. Experimental results confirm that the proposed method of combining planning and learning performs well on a variety of robotic assembly problems and outperforms both of the base methods used separately. We also show that this type of high level learning of Behavior Trees can be transferred to a real system without further training.
arXiv:2103.09036v1 fatcat:rxefqhrfkrd6phuunomgxa6bgq

A Survey of Behavior Trees in Robotics and AI [article]

Matteo Iovino, Edvards Scukins, Jonathan Styrud, Petter Ögren, Christian Smith
2020 arXiv   pre-print
Styrud); petter@kth.se (P. Ögren); ccs@kth.se (C. Smith) 1 Note that there is a different concept with the same name, used to handle functional requirements of a system, see e.g.  ... 
arXiv:2005.05842v2 fatcat:sgtxsbtyczf7fagxsbtmjmusy4

Combining Context Awareness and Planning to Learn Behavior Trees from Demonstration [article]

Oscar Gustavsson, Matteo Iovino, Jonathan Styrud, Christian Smith
2022 arXiv   pre-print
Fast changing tasks in unpredictable, collaborative environments are typical for medium-small companies, where robotised applications are increasing. Thus, robot programs should be generated in short time with small effort, and the robot able to react dynamically to the environment. To address this we propose a method that combines context awareness and planning to learn Behavior Trees (BTs), a reactive policy representation that is becoming more popular in robotics and has been used
more » ... y in many collaborative scenarios. Context awareness allows to infer from the demonstration the frames in which actions are executed and to capture relevant aspects of the task, while a planner is used to automatically generate the BT from the sequence of actions from the demonstration. The learned BT is shown to solve non-trivial manipulation tasks where learning the context is fundamental to achieve the goal. Moreover, we collected non-expert demonstrations to study the performances of the algorithm in industrial scenarios.
arXiv:2109.07133v2 fatcat:midxsmrm7fbdbgcy5yn2gwug5e

Combining Context Awareness and Planning to Learn Behavior Trees from Demonstration [article]

Oscar Gustavsson, Matteo Iovino, Jonathan Styrud, Christian Smith
2021
Fast changing tasks in unpredictable, collaborative environments are typical for medium-small companies, where robotised applications are increasing. Thus, robot programs should be generated in short time with small effort, and the robot able to react dynamically to the environment. To address this we propose a method that combines context awareness and planning to learn Behavior Trees (BTs), a reactive policy representation that is becoming more popular in robotics and has been used
more » ... y in many collaborative scenarios. Context awareness allows to infer from the demonstration the frames in which actions are executed and to capture relevant aspects of the task, while a planner is used to automatically generate the BT from the sequence of actions from the demonstration. The learned BT is shown to solve non-trivial manipulation tasks where learning the context is fundamental to achieve the goal. Moreover, we collected non-expert demonstrations to study the performances of the algorithm in industrial scenarios.
doi:10.48550/arxiv.2109.07133 fatcat:jrjuqwopnrdnthbrco7mkwtiru

Page 476 of Psychological Abstracts Vol. 85, Issue 1 [page]

1998 Psychological Abstracts  
Styrud, 137 Eacott, M.  ...  ., 820, 1144 Davidson, Jonathan, : T., 1544, 2249 Davidson, M. C., Davidson, Neil, 3147, 2748 Davidson, T.  ... 

Use of antibiotics alone for treatment of uncomplicated acute appendicitis: A systematic review and meta-analysis

Katherine Liu, Louis Fogg
2011 Surgery  
Dr Jonathan Saxe (Dayton, OH): With these stories, this is great. Let me give you another one, though, because this is the town where Houdini died of appendicitis.  ...  Normal appendix Complication including appendectomy Complication not including appendectomy Eriksson and Granstrom 13 Antibiotics 20 5% 35% 0% 0% Appendectomy 20 10% 10% 15.0% Styrud  ... 
doi:10.1016/j.surg.2011.08.018 pmid:22000179 fatcat:cg4d7ddwdff7noyge4xxlwnqyq