Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Towards Robust One-shot Task Execution using Knowledge Graph Embeddings   Requiring multiple demonstrations of a task plan presents a burden to
end-users of robots. However, robustly executing tasks plans from a single
end-user demonstration is an ongoing challenge in robotics. We address the
problem of one-shot task execution, in which a robot must generalize a single
demonstration or prototypical example of a task plan to a new execution
environment. Our approach integrates task plans with domain knowledge to infer
task plan constituents for new execution environments. Our experimental
evaluations show that our knowledge representation makes more relevant
generalizations that result in significantly higher success rates over tested
baselines. We validated the approach on a physical platform, which resulted in
the successful generalization of initial task plans to 38 of 50 execution
environments with errors resulting from autonomous robot operation included.

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The categories of this paper are: math
12
The categories of this paper are: nucl-th
37
The categories of this paper are: supr-con
15
The categories of this paper are: nucl-ex
26
The categories of this paper are: bayes-an
36
The categories of this paper are: cmp-lg
11
The categories of this paper are: hep-lat
25
The categories of this paper are: patt-sol
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The categories of this paper are: quant-ph
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The categories of this paper are: eess
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The categories of this paper are: physics
20
The categories of this paper are: acc-phys
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The categories of this paper are: hep-ph
34
The categories of this paper are: chem-ph
33
The categories of this paper are: plasm-ph
24
The categories of this paper are: dg-ga