Automating Transfer of Robot Task Plans using Functorial Data Migrations
<|reference_start|>Automating Transfer of Robot Task Plans using Functorial Data Migrations: 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.<|reference_end|>
@article{aguinaldo2024automating,
    title={Automating Transfer of Robot Task Plans using Functorial Data Migrations},
    author={Angeline Aguinaldo, Evan Patterson, William Regli},
    journal={arXiv preprint arXiv:2406.15961},
    year={2024},
    archivePrefix={arXiv},
    eprint={2406.15961},
    primaryClass={cs.RO cs.AI math.CT}
}