{"paper":{"title":"Closed-loop multi-step planning with innate physics knowledge","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.ET","cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Alice Miller, Bernd Porr, Christopher Chandler, Giulia Lafratta","submitted_at":"2024-11-18T12:15:16Z","abstract_excerpt":"We present a hierarchical framework to solve robot planning as an input control problem. At the lowest level are temporary closed control loops, (\"tasks\"), each representing a behaviour, contingent on a specific sensory input and therefore temporary. At the highest level, a supervising \"Configurator\" directs task creation and termination. Here resides \"core\" knowledge as a physics engine, where sequences of tasks can be simulated. The Configurator encodes and interprets simulation results,based on which it can choose a sequence of tasks as a plan. We implement this framework on a real robot an"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2411.11510","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2411.11510/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}