CSubBT: A Self-Adjusting Execution Framework for Mobile Manipulation System
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arXiv
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| Main Authors: | , , , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866908291418816512 |
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| author | Guo, Huihui Luo, Huizhang Pi, Huilong Duan, Mingxing Li, Kenli Liu, Chubo |
| author_facet | Guo, Huihui Luo, Huizhang Pi, Huilong Duan, Mingxing Li, Kenli Liu, Chubo |
| contents | With the advancements in modern intelligent technologies, mobile robots equipped with manipulators are increasingly operating in unstructured environments. These robots can plan sequences of actions for long-horizon tasks based on perceived information. However, in practice, the planned actions often fail due to discrepancies between the perceptual information used for planning and the actual conditions. In this paper, we introduce the {\itshape Conditional Subtree} (CSubBT), a general self-adjusting execution framework for mobile manipulation tasks based on Behavior Trees (BTs). CSubBT decomposes symbolic action into sub-actions and uses BTs to control their execution, addressing any potential anomalies during the process. CSubBT treats common anomalies as constraint non-satisfaction problems and continuously guides the robot in performing tasks by sampling new action parameters in the constraint space when anomalies are detected. We demonstrate the robustness of our framework through extensive manipulation experiments on different platforms, both in simulation and real-world settings. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2502_20771 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | CSubBT: A Self-Adjusting Execution Framework for Mobile Manipulation System Guo, Huihui Luo, Huizhang Pi, Huilong Duan, Mingxing Li, Kenli Liu, Chubo Robotics With the advancements in modern intelligent technologies, mobile robots equipped with manipulators are increasingly operating in unstructured environments. These robots can plan sequences of actions for long-horizon tasks based on perceived information. However, in practice, the planned actions often fail due to discrepancies between the perceptual information used for planning and the actual conditions. In this paper, we introduce the {\itshape Conditional Subtree} (CSubBT), a general self-adjusting execution framework for mobile manipulation tasks based on Behavior Trees (BTs). CSubBT decomposes symbolic action into sub-actions and uses BTs to control their execution, addressing any potential anomalies during the process. CSubBT treats common anomalies as constraint non-satisfaction problems and continuously guides the robot in performing tasks by sampling new action parameters in the constraint space when anomalies are detected. We demonstrate the robustness of our framework through extensive manipulation experiments on different platforms, both in simulation and real-world settings. |
| title | CSubBT: A Self-Adjusting Execution Framework for Mobile Manipulation System |
| topic | Robotics |
| url | https://arxiv.org/abs/2502.20771 |