Abstract: A method for planning a manipulation task of an agent, particularly a robot. The method includes: learning a number of manipulation skills wherein a symbolic abstraction of the respective manipulation skill is generated; determining a concatenated sequence of manipulation skills selected from the number of learned manipulation skills based on their symbolic abstraction so that a given goal specification indicating a given complex manipulation task is satisfied; and executing the sequence of manipulation skills.

Abstract: A method for controlling a robotic device, in which a composite robot trajectory model made up of robot trajectory models of the movement skills is generated for a sequence plan for a task to be carried out by the robot including a sequence of movement skills and primitive actions to be carried out, and the robot is controlled, if after one movement skill according to the sequence plan one or multiple primitive action(s) is/are to be executed before the next movement skill, by interrupting the control of the robot according to the composite robot trajectory model after carrying out the movement skill, and by executing the one or multiple primitive action(s) and then resuming the control of the robot according to the composite robot trajectory model.

Abstract: A method for planning a manipulation task of an agent, particularly a robot. The method includes: learning a number of manipulation skills wherein a symbolic abstraction of the respective manipulation skill is generated; determining a concatenated sequence of manipulation skills selected from the number of learned manipulation skills based on their symbolic abstraction so that a given goal specification indicating a given complex manipulation task is satisfied; and executing the sequence of manipulation skills.