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Mohammed Diab
Ph.D.
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Table-top manipulation problems: The video shows the challenge of the need to reason on the current state of the world in order to apply one action or another (like a pick or push an object to take it apart) in a table-top manipulation scenario. PMK framework offers a way to encode knowledge and reason upon it.
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Assembly manipulation problems: The video shows the challenge of the need to reason on the result of actions or the need to evaluate actions preconditions (like the feasibility of a given grasp to execute a pick action) in an assembly task. FailRecOnt framework offers a flexible reasoning tool that is perfectly adapted to knowledge-driven planning schemes.
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Mobile-based every-day manipulation problems: The video shows the challenge of the need to make the robot aware of situation similarities to efficiently re-use previously known ways to execute actions by adapting the robot motions to stored patterns (like opening one drawer once the robot knows how to open another). The SkillMaN framework integrates the previous tools with a similarity situation evaluator and a motion adaptation tool.
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