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Robo-Soar: An integration of external interaction, planning, and learning using Soar

Laird, John E. and Yager, Eric S. and Hucka, Michael and Tuck, Christopher M. (1991) Robo-Soar: An integration of external interaction, planning, and learning using Soar. Robotics and Autonomous Systems, 8 (1-2). pp. 113-129. ISSN 0921-8890. https://resolver.caltech.edu/CaltechAUTHORS:20121221-144531985

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Abstract

This paper reports progress in extending the Soar architecture to tasks that involve interaction with external environments. The tasks are performed using a Puma arm and a camera in a system called Robo-Soar. The tasks require the integration of a variety of capabilities including problem solving with incomplete knowledge, reactivity, planning, guidance from external advice, and learning to improve the efficiency and correctness of problem solving. All of these capabilities are achieved without the addition of special purpose modules or subsystems to Soar.


Item Type:Article
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1016/0921-8890(91)90017-FDOIArticle
http://www.sciencedirect.com/science/article/pii/092188909190017FPublisherArticle
ORCID:
AuthorORCID
Hucka, Michael0000-0001-9105-5960
Additional Information:© 1991 Elsevier Science Publishers B.V. We would like to thank Karen McMahon for implementing Soar 5, and Mark Wiesmeyer for developing and implementing the Soar input and output interfaces. Without these extensions to Soar, Robo-Soar would not have been possible. We also like to thank Mike Walker and Joe Dionese for help with the Puma robot control system and Terry Weymouth for help with the vision system. Finally, we thank Paul Rosenbloom and Allen Newell for ideas relating to this work. This research was sponsored by grant NCC2-517 from NASA Ames and ONR grant N00014-88-K-0554.
Funders:
Funding AgencyGrant Number
NASANCC2-517
Office of Naval Research (ONR)N00014-88-K-0554
Subject Keywords:Soar; Interaction with external environments; Planning; Machine learning, Robotics
Issue or Number:1-2
Record Number:CaltechAUTHORS:20121221-144531985
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20121221-144531985
Official Citation:John E. Laird, Eric S. Yager, Michael Hucka, Christopher M. Tuck, Robo-Soar: An integration of external interaction, planning, and learning using Soar, Robotics and Autonomous Systems, Volume 8, Issues 1–2, November 1991, Pages 113-129, ISSN 0921-8890, 10.1016/0921-8890(91)90017-F.
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:36103
Collection:CaltechAUTHORS
Deposited By: Linda Taddeo
Deposited On:02 Jan 2013 16:06
Last Modified:03 Oct 2019 04:34

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