Related papers: Task Tree Retrieval For Robotic Cooking
Automated cooking machine is a goal for the future. The main aim is to make the cooking process easier, safer, and create human welfare. To allow robots to accurately perform the cooking activities, it is important for them to understand…
Despite the abundance of multi-modal data, such as image-text pairs, there has been little effort in understanding the individual entities and their different roles in the construction of these data instances. In this work, we endeavour to…
For robots to assist users with household tasks, they must first learn about the tasks from the users. Further, performing the same task every day, in the same way, can become boring for the robot's user(s), therefore, assistive robots must…
An unsolved challenge in cooking automation is designing for shared kitchen workspaces. In particular, robots struggle with dexterity in the unstructured and dynamic kitchen environment. We propose that human-machine collaboration can be…
Recipe generation from food images and ingredients is a challenging task, which requires the interpretation of the information from another modality. Different from the image captioning task, where the captions usually have one sentence,…
We address goal-based imitation learning, where the aim is to output the symbolic goal from a third-person video demonstration. This enables the robot to plan for execution and reproduce the same goal in a completely different environment.…
Future service robots working in human environments, such as kitchens, will face situations where they need to improvise. The usual tool for a given task might not be available and the robot will have to use some substitute tool. The robot…
People often watch videos on the web to learn how to cook new recipes, assemble furniture or repair a computer. We wish to enable robots with the very same capability. This is challenging; there is a large variation in manipulation actions…
In human-robot collaboration (HRC), it is crucial for robot agents to consider humans' knowledge of their surroundings. In reality, humans possess a narrow field of view (FOV), limiting their perception. However, research on HRC often…
Motion Planning is necessary for robots to complete different tasks. Rapidly-exploring Random Tree (RRT) and its variants have been widely used in robot motion planning due to their fast search in state space. However, they perform not well…
This letter describes an approach to achieve well-known Chinese cooking art stir-fry on a bimanual robot system. Stir-fry requires a sequence of highly dynamic coordinated movements, which is usually difficult to learn for a chef, let alone…
A challenge in robot grasping is to achieve task-grasping which is to select a grasp that is advantageous to the success of tasks before and after grasps. One of the frameworks to address this difficulty is Learning-from-Observation (LfO),…
In robotics, knowing the object states and recognizing the desired states are very important. Objects at different states would require different grasping. To achieve different states, different manipulations would be required, as well as…
Robots require knowledge about objects in order to efficiently perform various household tasks involving objects. The existing knowledge bases for robots acquire symbolic knowledge about objects from manually-coded external common sense…
People enjoy food photography because they appreciate food. Behind each meal there is a story described in a complex recipe and, unfortunately, by simply looking at a food image we do not have access to its preparation process. Therefore,…
Machine comprehension of procedural texts is essential for reasoning about the steps and automating the procedures. However, this requires identifying entities within a text and resolving the relationships between the entities. Previous…
The output of a machine learning algorithm can usually be represented by one or more multivariate functions of its input variables. Knowing the global properties of such functions can help in understanding the system that produced the data…
We consider the problem of planning views for a robot to acquire images of an object for visual inspection and reconstruction. In contrast to offline methods which require a 3D model of the object as input or online methods which rely on…
Food computing has emerged as a prominent multidisciplinary field of research in recent years. An ambitious goal of food computing is to develop end-to-end intelligent systems capable of autonomously producing recipe information for a food…
Understanding food recipe requires anticipating the implicit causal effects of cooking actions, such that the recipe can be converted into a graph describing the temporal workflow of the recipe. This is a non-trivial task that involves…