Physics-Based Causal Reasoning for Safe & Robust Next-Best Action Selection in Robot Manipulation Tasks

no code implementations • 21 Mar 2024 • Ricardo Cannizzaro, Michael Groom, Jonathan Routley, Robert Osazuwa Ness, Lars Kunze

Safe and efficient object manipulation is a key enabler of many real-world robot applications.

Causal Inference Decision Making +1

Towards Probabilistic Causal Discovery, Inference & Explanations for Autonomous Drones in Mine Surveying Tasks

no code implementations • 19 Aug 2023 • Ricardo Cannizzaro, Rhys Howard, Paulina Lewinska, Lars Kunze

Here we identify challenges relating to causality in the context of a drone system operating in a salt mine.

Causal Discovery counterfactual

Towards a Causal Probabilistic Framework for Prediction, Action-Selection & Explanations for Robot Block-Stacking Tasks

no code implementations • 11 Aug 2023 • Ricardo Cannizzaro, Jonathan Routley, Lars Kunze

Uncertainties in the real world mean that is impossible for system designers to anticipate and explicitly design for all scenarios that a robot might encounter.

Causal Inference counterfactual

CAR-DESPOT: Causally-Informed Online POMDP Planning for Robots in Confounded Environments

no code implementations • 13 Apr 2023 • Ricardo Cannizzaro, Lars Kunze

Robots operating in real-world environments must reason about possible outcomes of stochastic actions and make decisions based on partial observations of the true world state.

Decision Making