Related papers: Task Tree Retrieval For Robotic Cooking
Many high-level procedural tasks can be decomposed into sequences of instructions that vary in their order and choice of tools. In the cooking domain, the web offers many partially-overlapping text and video recipes (i.e. procedures) that…
This paper presents the behaviour control of a service robot for intelligent object search in a domestic environment. A major challenge in service robotics is to enable fetch-and-carry missions that are satisfying for the user in terms of…
This paper contains description of such knowledge representation model as Object-Oriented Dynamic Network (OODN), which gives us an opportunity to represent knowledge, which can be modified in time, to build new relations between objects…
We present the first approach to build hierarchical task-driven 3D scene graphs of arbitrary indoor or outdoor environments using an uncalibrated monocular camera in real-time. We leverage geometric foundation models to estimate geometric…
The guiding task of a mobile robot requires not only human-aware navigation, but also appropriate yet timely interaction for active instruction. State-of-the-art tour-guide models limit their socially-aware consideration to adapting to…
Calorie and nutrition research has attained increased interest in recent years. But, due to the complexity of the problem, literature in this area focuses on a limited subset of ingredients or dish types and simple convolutional neural…
Today, even the most compute-and-power constrained robots can measure complex, high data-rate video and LIDAR sensory streams. Often, such robots, ranging from low-power drones to space and subterranean rovers, need to transmit high-bitrate…
Real-world planning problems often involve hundreds or even thousands of objects, straining the limits of modern planners. In this work, we address this challenge by learning to predict a small set of objects that, taken together, would be…
Robots in the real world should be able to adapt to unforeseen circumstances. Particularly in the context of tool use, robots may not have access to the tools they need for completing a task. In this paper, we focus on the problem of tool…
To better optimise the global food supply chain, robotic solutions are needed to automate tasks currently completed by humans. Namely, phenotyping, quality analysis and harvesting are all open problems in the field of agricultural robotics.…
There is growing interest in automating agricultural tasks that require intricate and precise interaction with specialty crops, such as trees and vines. However, developing robotic solutions for crop manipulation remains a difficult…
Task and motion planning problems in robotics combine symbolic planning over discrete task variables with motion optimization over continuous state and action variables. Recent works such as PDDLStream have focused on optimistic planning…
As robotic systems become more popular in household environments, the complexity of required tasks also increases. In this work we focus on a domestic chore deemed dull by a majority of the population, the task of ironing. The presented…
Automated planning enables robots to find plans to achieve complex, long-horizon tasks, given a planning domain. This planning domain consists of a list of actions, with their associated preconditions and effects, and is usually manually…
To solve multi-step manipulation tasks in the real world, an autonomous robot must take actions to observe its environment and react to unexpected observations. This may require opening a drawer to observe its contents or moving an object…
Table-top Rearrangement and Planning is a challenging problem that relies heavily on an excellent perception stack. The perception stack involves observing and registering the 3D scene on the table, detecting what objects are on the table,…
Deep reinforcement learning is becoming increasingly popular for robot control algorithms, with the aim for a robot to self-learn useful feature representations from unstructured sensory input leading to the optimal actuation policy. In…
Object detection is a fundamental problem in image understanding. One popular solution is the R-CNN framework and its fast versions. They decompose the object detection problem into two cascaded easier tasks: 1) generating object proposals…
Coron is a domain and platform independent, multi-purposed data mining toolkit, which incorporates not only a rich collection of data mining algorithms, but also allows a number of auxiliary operations. To the best of our knowledge, a data…
We present the transformer cookbook: a collection of techniques for directly encoding algorithms into a transformer's parameters. This work addresses the steep learning curve of such endeavors, a problem exacerbated by a fragmented…