相关论文: Task Tree Retrieval for Robotic Cooking

The foundation of this paper is an experiment of fifteen participants interacting directly with an autonomous robot. The task for the participants was to carry a table, in two different setups, together with a robot, which is intended to…

Machine learning is a field of computer science that builds algorithms that learn. In many cases, machine learning algorithms are used to recreate a human ability like adding a caption to a photo, driving a car, or playing a game. While the…

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,…

Humans are capable of learning a new behavior by observing others to perform the skill. Similarly, robots can also implement this by imitation learning. Furthermore, if with external guidance, humans can master the new behavior more…

Food is essential for human survival, and people always try to taste different types of delicious recipes. Frequently, people choose food ingredients without even knowing their names or pick up some food ingredients that are not obvious to…

This paper introduces a taxonomy of manipulations as seen especially in cooking for 1) grouping manipulations from the robotics point of view, 2) consolidating aliases and removing ambiguity for motion types, and 3) provide a path to…

Assistive robot arms can help humans by partially automating their desired tasks. Consider an adult with motor impairments controlling an assistive robot arm to eat dinner. The robot can reduce the number of human inputs -- and how precise…

Active communication between robots and humans is essential for effective human-robot interaction. To accomplish this objective, Cloud Robotics (CR) was introduced to make robots enhance their capabilities. It enables robots to perform…

Autonomous robots in unstructured and dynamically changing retail environments have to master complex perception, knowledgeprocessing, and manipulation tasks. To enable them to act competently, we propose a framework based on three core…

We focus on autonomously generating robot motion for day to day physical tasks that is expressive of a certain style or emotion. Because we seek generalization across task instances and task types, we propose to capture style via cost…

Human does their daily activity and cooking by teaching and imitating with the help of their vision and understanding of the difference between materials. Teaching a robot to do coking and daily work is difficult because of variation in…

Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…

Robotic systems in manufacturing applications commonly assume known object geometry and appearance. This simplifies the task for the 3D perception algorithms and allows the manipulation to be more deterministic. However, those approaches…

Object reconstruction is an important task in many fields of application as it allows to generate digital representations of our physical world used as base for analysis, planning, construction, visualization or other aims. A reconstruction…

The goal of machine learning is to provide solutions which are trained by data or by experience coming from the environment. Many training algorithms exist and some brilliant successes were achieved. But even in structured environments for…

This paper presents a compliant manipulation system capable of placing items onto densely packed shelves. The wide diversity of items and strict business requirements for high producing rates and low defect generation have prohibited…

This paper develops a robotic manipulation planner for human-robot collaborative assembly. Unlike previous methods which study an independent and fully AI-equipped autonomous system, this paper explores the subtask distribution between a…

Designing powerful tools that support cooking activities has rapidly gained popularity due to the massive amounts of available data, as well as recent advances in machine learning that are capable of analyzing them. In this paper, we…

Cooperative table-carrying is a complex task due to the continuous nature of the action and state-spaces, multimodality of strategies, and the need for instantaneous adaptation to other agents. In this work, we present a method for…

Humans generally teach their fellow collaborators to perform tasks through a small number of demonstrations. The learnt task is corrected or extended to meet specific task goals by means of coaching. Adopting a similar framework for…