| CPC G06F 9/4881 (2013.01) [G06N 5/02 (2013.01)] | 20 Claims |
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1. A method for controlling a robot comprising:
receiving a definition of a task, wherein:
the task has multiple task states,
each task state is associated with a different respective control policy, and
each task state is defined by a composition of one or more predicate values;
executing the task using an initial control policy associated with an initial task state for the task;
during execution of the task:
continually generating, from sensor data, one or more predicted predicate values for each of one or more predicates defining the multiple task states, and
generating, from the one or more predicted predicate values and one or more task state transition prior belief states, a resulting prediction of the task state that the task is currently in; and
when a transition from the initial task state to a different task state has occurred, controlling the robot using a different control policy associated with the different task state of the task.
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