相关论文: Task Tree Retrieval for Robotic Cooking

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…

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…

This paper presents a case study on how to process cooking recipes (and more generally, how-to instructions) in a way that makes it possible for a robot or artificial cooking assistant to support human chefs in the kitchen. Such AI…

Following work on joint object-action representations, functional object-oriented networks (FOON) were introduced as a knowledge graph representation for robots. A FOON contains symbolic concepts useful to a robot's understanding of tasks…

Although robots have been introduced in many industries, food production robots are yet to be widely employed because the food industry requires not only delicate movements to handle food but also complex movements that adapt to the…

In this preliminary work, we propose to design an activity recognition system that is suitable for Industrie 4.0 (I4.0) applications, especially focusing on Learning from Demonstration (LfD) in collaborative robot tasks. More precisely, we…

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…

The understanding of the functional aspects of objects and tools is of paramount importance in supporting an intelligent system in navigating around in the environment and interacting with various objects, structures, and systems, to help…

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…

Food is not only a basic human necessity but also a key factor driving a society's health and economic well-being. As a result, the cooking domain is a popular use-case to demonstrate decision-support (AI) capabilities in service of…

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…

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…

Cooking is a task that must be performed in a daily basis, and thus it is an activity that many people take for granted. For humans preparing a meal comes naturally, but for robots even preparing a simple sandwich results in an extremely…

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…

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…

When robots entered our day-to-day life, the shared space surrounding humans and robots is critical for effective Human-Robot collaboration. The design of shared space should satisfy humans' preferences and robots' efficiency. This work…

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.…

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…

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…

Food is essential to human survival. So much so that we have developed different recipes to suit our taste needs. In this work, we propose a novel way of creating new, fine-dining recipes from scratch using Transformers, specifically…