Related papers: Task tree retrieval from FOON using search algorit…

Flexible task planning is still a significant challenge for robots. The inability of robots to creatively adapt their task plans to new or unforeseen challenges is largely attributable to their limited understanding of their activities and…

Task planning for robotic cooking involves generating a sequence of actions for a robot to prepare a meal successfully. This paper introduces a novel task tree generation pipeline producing correct planning and efficient execution for…

This paper describes our recent research effort to bring the computer intelligence into the physical world so that robots could perform physically interactive manipulation tasks. Our proposed approach first gives robots the ability to learn…

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…

We have designed three search methods for producing the task trees for the provided goal nodes using the Functional Object-Oriented Network. This paper details the strategy, the procedure, and the outcomes.

Cooking tasks remain a challenging problem for robotics due to their complexity. Videos of people cooking are a valuable source of information for such task, but introduces a lot of variability in terms of how to translate this data to a…

Embodied AI agents in large scenes often need to navigate to find objects. In this work, we study a naturally emerging variant of the object navigation task, hierarchical relational object navigation (HRON), where the goal is to find…

This article investigates the challenge of achieving functional tool-use grasping with high-DoF anthropomorphic hands, with the aim of enabling anthropomorphic hands to perform tasks that require human-like manipulation and tool-use.…

Task planning for mobile robots often assumes full environment knowledge and so popular approaches, like planning via the PDDL, cannot plan when the locations of task-critical objects are unknown. Recent learning-driven object search…

When operating in unstructured environments such as warehouses, homes, and retail centers, robots are frequently required to interactively search for and retrieve specific objects from cluttered bins, shelves, or tables. Mechanical Search…

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…

The growing demand of industrial, automotive and service robots presents a challenge to the centralized Cloud Robotics model in terms of privacy, security, latency, bandwidth, and reliability. In this paper, we present a `Fog Robotics'…

Selection of appropriate tools and use of them when performing daily tasks is a critical function for introducing robots for domestic applications. In previous studies, however, adaptability to target objects was limited, making it…

The distributed coordination of robot teams performing complex tasks is challenging to formulate. The different aspects of a complete task such as local planning for obstacle avoidance, global goal coordination and collaborative mapping are…

This paper aims to develop a framework that enables a robot to execute tasks based on visual information, in response to natural language instructions for Fetch-and-Carry with Object Grounding (FCOG) tasks. Although there have been many…

For effective human-robot collaboration, a robot must align its actions with human goals, even as they change mid-task. Prior approaches often assume fixed goals, reducing goal prediction to a one-time inference. However, in real-world…

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…

Completing complex tasks in unpredictable settings like home kitchens challenges robotic systems. These challenges include interpreting high-level human commands, such as "make me a hot beverage" and performing actions like pouring a…

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 response to the growing challenges of manual labor and efficiency in warehouse operations, Amazon has embarked on a significant transformation by incorporating robotics to assist with various tasks. While a substantial number of robots…