Patent ID: 7370022

Claim:
A computer based method for a humanoid robot to identify steps to perform a task in a constrained environment, the method comprising: receiving data collected by a distributed capture technique, said data comprising one or more plans for the humanoid robot to perform a task; automatically extracting from said data a sequence of task steps for the humanoid robot to perform the task; storing said sequence of task steps in a computer-readable memory; extracting an action-object pair from said sequence of task steps, said action-object pair corresponding a task step of said sequence of task steps; determining a conditional probability distribution for said action-object pair, said conditional probability distribution to handle constraints of the environment and specifying a probability distribution to handle constraints of the environment and specifying a probability of occurrence of an action of said action-object pair given a relative frequency of occurrence of an object and a relative frequency of joint occurrence of said action-object pair; and storing said conditional probability distribution for said action-object pair in a computer-readable memory.