Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Specifying and achieving goals in open uncertain robot-manipulation
  domains   This paper describes an integrated solution to the problem of describing and
interpreting goals for robots in open uncertain domains. Given a formal
specification of a desired situation, in which objects are described only by
their properties, general-purpose planning and reasoning tools are used to
derive appropriate actions for a robot. These goals are carried out through an
online combination of hierarchical planning, state-estimation, and execution
that operates robustly in real robot domains with substantial occlusion and
sensing error.

30
The categories of this paper are: q-alg
5
The categories of this paper are: gr-qc
6
The categories of this paper are: astro-ph
37
The categories of this paper are: supr-con
31
The categories of this paper are: ao-sci
15
The categories of this paper are: nucl-ex
32
The categories of this paper are: atom-ph
2
The categories of this paper are: math
10
The categories of this paper are: q-bio
25
The categories of this paper are: patt-sol
27
The categories of this paper are: comp-gas
13
The categories of this paper are: quant-ph
8
The categories of this paper are: hep-ex
3
The categories of this paper are: physics
17
The categories of this paper are: q-fin
11
The categories of this paper are: hep-lat