Yoda: The Young Observant Discovery Agent

Shen, Wei-Min, Adibi, Jafar, Cho, Bongham, Kaminka, Gal, Kim, Jihie, Salemi, Behnam, Tejada, Sheila

AI Magazine 

The YODA Robot Project at the University of Southern California/Information Sciences Institute consists of a group of young researchers who share a passion for autonomous systems that can bootstrap its knowledge from real environments by exploration, experimentation, learning, and discovery. Our participation in the Fifth Annual AAAI Mobile Robot Competition and Exhibition, held as part of the Thirteenth National Conference on Artificial Intelligence, served as the first milestone in advancing us toward this goal. YODA's software architecture is a hierarchy of abstraction layers, ranging from a set of behaviors at the bottom layer to a dynamic, mission-oriented planner at the top. This abstraction architecture has proven robust in dynamic and noisy environments, as shown by YODA's performance at the robot competition.