Or Wertheim

2 accepted papers

2024

Plug'n Play Task-Level Autonomy for Robotics Using POMDPs and Probabilistic Programs

Or Wertheim, Dan R. Suissa, Ronen I. Brafman

RA-L 2024

We describe AOS, the first general-purpose system for model-based control of autonomous robots using AI planning that fully supports partial observability and noisy sensing. The AOS provides a code-based language for specifying a generative model of the system, making model specification easier and

Cited by 4 Source ↗Scholar ↗

2023

Probabilistic Programs as an Action Description Language

Ronen I. Brafman, David Tolpin, Or Wertheim

AAAI 2023technical

Actions description languages (ADLs), such as STRIPS, PDDL, and RDDL specify the input format for planning algorithms. Unfortunately, their syntax is familiar to planning experts only, and not to potential users of planning technology. Moreover, this syntax limits the ability to describe complex and…

Cited by 9 Source ↗PDF ↗Scholar ↗