HUME lets robots generate, plan over, and actively verify object-centric hypotheses from foundation models so incomplete symbolic models become usable for open-world household tasks.
Inte- grated task and motion planning in belief space.The International Journal of Robotics Research, 32(9-10): 1194–1227, 2013
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Hypothesis-driven Model Expansion under Uncertainty for Open-World Robot Planning
HUME lets robots generate, plan over, and actively verify object-centric hypotheses from foundation models so incomplete symbolic models become usable for open-world household tasks.