1. Automating Transfer of Robot Task Plans using Functorial Data Migrations
- Author
-
Aguinaldo, Angeline, Patterson, Evan, and Regli, William
- Subjects
Computer Science - Robotics ,Computer Science - Artificial Intelligence ,Mathematics - Category Theory ,I.2.9 - Abstract
This paper introduces a novel approach to ontology-based robot plan transfer using functorial data migrations from category theory. Functors provide structured maps between domain types and predicates which can be used to transfer plans from a source domain to a target domain without the need for replanning. Unlike methods that create models for transferring specific plans, our approach can be applied to any plan within a given domain. We demonstrate this approach by transferring a task plan from the canonical Blocksworld domain to one compatible with the AI2-THOR Kitchen environment. In addition, we discuss practical applications that may enhance the adaptability of robotic task planning in general.
- Published
- 2024