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, Types: -cube ? Quels sont les noms d'objet que tu vois sur le damier? ? Quel est le type de l'objet X1?
, Le type est une façon de décrire l'objet X1 d'une manière plus généralisée
, Propriétés (initial): -cube ? Quelle est la propriété de l'objet X1 que tu observes dans cet état sur le damier? ? Si S ne dit pas, K propose de regarder la couleur
on écrit ? 'est_rouge(X1)' pour dire 'X1 est rouge' ? 'est_sur(X1,1a)' pour dire 'X1 est sur 1a' 'verbe' ( 'sujet', 'compléments' ): Le verbe est au début ,
, Propriétés (généralisée): -cube ? Comment peux-tu exprimer cette propriété dans une facon plus généralisé pour qu'on peut l'utiliser pour n'importe quel objet de ce type?
qu'est-ce qui manque encore? ,
Est-ce que tu vois d'autre noms/types sur le damier ,
Quelle est la différence entre la position 1a et les autres, ? Propriété généralisée? ? Si S n'y arrive pas, K "Comparez-la avec les propriétés généralisées qu'on a déjà rempli ,
, Actions: K donne à S la fiche d'action I avec le tableau vide Maintenant on va voir comment on peut modéliser une action
, Une action consiste des préconditions, c'est-à-dire des conditions qui sont nécessaire pour effectuer l'action, et des effets, les conditions qui s'appliquent après l'action
, Quel est l'action qui est effectuée? ? Si S n'y arrive pas, K "On peut dire que le cube est déplacé de 1a à 2b" ? Comment peut-on représenter cette action dans le langage, l'action dans le langage: déplace (X1,1a,2b) ?
, déplacer(X1): ? Si on lis que l'action, est-ce qu'on peut comprendre ce qu'il faut faire? (de déplacer de 1a à 2b) ? Qu'est-ce que cette action que tu viens d'écrire veut dire en français? ? Qu'est-ce qu'il manque pour que l'action dise, déplace (X1,1a,2b): si S n'écrit pas toutes les paramètres X1, 1a, p.2
, ? Quelles sont les conditions nécessaire pour déplacer le cube? Observez l'état initial
, Si S donne la bonne réponse: est_sur(X1,1a)
C'est exacte, pour déplacer le cube X1 de 1a à 2b, il faut que X1 soit d'abord sur 1a ,
, Si S donne plus de conditions que nécessaire: ? Est-ce qu'on a besoin de toutes les conditions pour déplacer le cube? ? Est-ce qu'il est nécessaire que X1 soit rouge pour déplacer le cube X1 ?
, 3: effets: est_sur(X1,2b) ? Quelles sont les effets après l'action a été effectuée? ? Qu'est-ce qu'il change après le déplacement?
, Action généralisée
Qu'est-ce qu'on peut généraliser? Comparez avec le tableau" 1.5 Debriefing: ? Qu'est-que vous pensez de ce langage -les types, les propriétés et leur généralisation ? ? Qu'est-que vous pensez de la représentation de l'action avec les préconditions et les effets? ? Est-ce que la représentation utilisée ,
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Learning manipulation actions from a few demonstrations, 2013 IEEE International Conference on Robotics and Automation (ICRA), pp.1268-1275 ,
Automated planning: theory & practice, 2004. ,
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Simplified programming of re-usable skills on a safe industrial robot: Prototype and evaluation, Intl. Conf. on Human-Robot Interaction, pp.463-472, 2017. ,
est ce qui a été fait dans le domaine académique pour résoudre le problème ? !"#$%& ,
, , vol.3, p.456
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