Robotic Tasks in Soar
Robotic Tasks in Soar
Soar's ability to modulate perception and
action through the use of encoding and decoding productions makes it applicable to
robotic domains. An advantage of using Soar in these domains is that
its learning mechanism, chunking, can
be used to cache the results of previous problem solving and planning into more reactive behavior. This is similar to
the generation of stimulus-response rules in Theo
and exhibits a corresponding speedup as problematic behavior becomes routine.
Robo-Soar (Laird and Rosenbloom, 1990) uses a camera vision system and
a Puma robot arm to manipulate -- stack, unstack, move -- blocks in a
small but real blocksworld domain. Similarly, Hero-Soar is a
mobile robot implementation which navigates in an office environment
and uses an extendable arm to pick up empty cups. These systems
demonstrate Soar's applicability to domains with uncertainty, where
perception can be incomplete, and unpredictable, since dynamic,
unexpected events may occur to interrupt the current processing and
behavior.
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