@inproceedings{PGClta18,
    author = {Priyam Parashar and Ashok K. Goel and Henrik I. Christensen},
    title = {Using hierarchical expectations grounded in perception for failure reasoning during task execution},
    booktitle = {Proceedings of the AAAI Fall Symposium on Reasoning and Learning in Real-World Systems for Long-Term Autonomy},
    pages = {70--73},
    year = {2018},
    abstract = {Traditionally, meta-reasoning architectures for planning have used abstract representations of expectations about the states of the world. However, embodiment of meta-reasoning on a robot requires grounding the expectations in perception. We propose a dual encoding of expectations based in the concept of occupancy grids. We illustrate this encoding for the task of designing shapes by block placement on a tabletop.}
}