@INPROCEEDINGS{10toussaintEtAlICRA,
    author = "Toussaint, Marc and Plath, Nils and Lang, Tobias and Jetchev, Nikolay",
    title = "Integrated motor control, planning, grasping and high-level reasoning in a blocksworld using probabilistic inference",
    booktitle = "IEEE International Conference on Robotics and Automation (ICRA)",
    year = "2010",
    month = "May",
    abstract = "A new approach to planning and goal-directed behavior has recently beenproposed using probabilistic inference in a graphical model that represents states, actions, constraints and goals of the future toinfer appropriate actions and controls. The approach has led to newalgorithms on the control and trajectory optimization levelas well as for high-level rule-based planning in relational domains. In this paper we integrate these methods to a coherent control, trajectory optimization, and action planning architecture, using the principle ofplanning by inference across all levels of abstractions. Our scenariois a real blocks world: using a 14DoF Schunk arm and handwith tactile sensors and a stereo camera, the goal is to manipulate aset of objects on the table in a goal-oriented way. For high-level reasoning,we learn relational rule-based models from experience in simulation.",
    folder = "Robotics",
    pdf = "http://user.cs.tu-berlin.de/\textasciitilde mtoussai/publications/10-toussaint-et-al-ICRA.pdf",
    pdfurl = "http://user.cs.tu-berlin.de/\textasciitilde mtoussai/publications/10-toussaint-et-al-ICRA.pdf"
}