机器人世界模型 - 概念化,审查和工程最佳实践.
Ryo Sakagami1, Florian S Lay1, Andreas Dömel1
1Institute of Robotics and Mechatronics, DLR (German Aerospace Center), Wessling, Germany.
Frontiers in robotics and AI
|November 29, 2023
概括
本综述阐明了机器人领域世界模型 (WM) 的定义,分析了它们的设计和四十年来的文献. 它提出了未来WM开发和实施的指导方针.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 人工智能的人工智能
- 软件工程 软件工程 软件工程
背景情况:
- "世界模型" (WM) 这个术语在机器人学中经常被用于各种子领域.
- 在各个领域和研究领域中,缺乏对WM的一致而简洁的定义.
- 现有关于机器人机器人机器人的文献跨越了四十年.
研究的目的:
- 为WMs启动一个清晰的术语.
- 描述机器人WM的关键设计维度.
- 分析现有的关于机器人机器人机器人的文献.
主要方法:
- 在机器人学中对WM进行四十年的文献的审查和分析.
- 应用软件工程原则 (例如",设计用于使用"",不要重复自己"",低合,高凝聚力") 来激励WMs.
- 识别和描述WMs重要的设计维度.
主要成果:
- 一个建议的术语和定义为WMs.
- 基于已识别的设计维度,分析机器人工程中的WM.
- 突出移动操纵和深度强化学习之间的WM应用中的相似之处和差异.
结论:
- 机器人机器人在机器人学中至关重要,但需要标准化的定义和设计原则.
- 软件工程原理为开发强大的WMs提供了有价值的见解.
- 未来的研究应该专注于WM的具体设计准则,以加强其开发和实施.
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