相关论文: Evaluating Recipes Generated from Functional Objec…

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…

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…

Sharing food has become very popular with the development of social media. For many real-world applications, people are keen to know the underlying recipes of a food item. In this paper, we are interested in automatically generating cooking…

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…

Food is significant to human daily life. In this paper, we are interested in learning structural representations for lengthy recipes, that can benefit the recipe generation and food cross-modal retrieval tasks. Different from the common…

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 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…

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…

In this paper, we are interested in modeling a how-to instructional procedure, such as a cooking recipe, with a meaningful and rich high-level representation. Specifically, we propose to represent cooking recipes and food images as cooking…

We propose the object-oriented networking (OON) framework, for meeting the generalized interconnection, mobility and technology integration requirements underlining the Internet. In OON, the various objects that need to be accessed through…

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,…

Recently presented Token-Oriented Object Notation (TOON) aims to replace JSON as a serialization format for passing structured data to LLMs with significantly reduced token usage. While showing solid accuracy in LLM comprehension, there is…

Mathematical optimization is widely used in various research fields. With a carefully-designed objective function, mathematical optimization can be quite helpful in solving many problems. However, objective functions are usually…

A robot finds it really hard to learn creatively and adapt to new unseen challenges. This is mainly because of the minimal information it has access to or experience towards. Paulius et al. [1] presented a way to construct functional graphs…

Most action recognition models treat human activities as unitary events. However, human activities often follow a certain hierarchy. In fact, many human activities are compositional. Also, these actions are mostly human-object interactions.…

We introduce a new method that extracts knowledge from a large language model (LLM) to produce object-level plans, which describe high-level changes to object state, and uses them to bootstrap task and motion planning (TAMP). Existing work…

Function is defined as the ensemble of tasks that enable the product to complete the designed purpose. Functional tools, such as functional modeling, offer decision guidance in the early phase of product design, where explicit design…

Network embedding aims to find a way to encode network by learning an embedding vector for each node in the network. The network often has property information which is highly informative with respect to the node's position and role in the…

This paper addresses the Object Goal Navigation problem, where a robot must efficiently find a target object in an unknown environment. Existing implicit memory-based methods struggle with long-term memory retention and planning, while…

The capacity to achieve out-of-distribution (OOD) generalization is a hallmark of human intelligence and yet remains out of reach for machines. This remarkable capability has been attributed to our abilities to make conceptual abstraction…