相关论文: Task Tree Retrieval For Robotic Cooking

We describe an algorithm for motion planning based on expert demonstrations of a skill. In order to teach robots to perform complex object manipulation tasks that can generalize robustly to new environments, we must (1) learn a…

As people become more aware of their food choices, food computation models have become increasingly popular in assisting people in maintaining healthy eating habits. For example, food recommendation systems analyze recipe instructions to…

In this paper, we show how a planning algorithm can be used to automatically create and update a Behavior Tree (BT), controlling a robot in a dynamic environment. The planning part of the algorithm is based on the idea of back chaining.…

Recent work in the construction of 3D scene graphs has enabled mobile robots to build large-scale metric-semantic hierarchical representations of the world. These detailed models contain information that is useful for planning, however an…

The ability to accurately represent and localise relevant objects is essential for robots to carry out tasks effectively. Traditional approaches, where robots simply capture an image, process that image to take an action, and then forget…

This study explores the utility of various internet data sources to select among a set of template robot behaviors to perform skills. Learning contact-rich skills involving tool use from internet data sources has typically been challenging…

Planning in realistic environments requires searching in large planning spaces. Affordances are a powerful concept to simplify this search, because they model what actions can be successful in a given situation. However, the classical…

A food recipe is an ordered set of instructions for preparing a particular dish. From a visual perspective, every instruction step can be seen as a way to change the visual appearance of the dish by adding extra objects (e.g., adding an…

Within the realm of service robotics, researchers have placed a great amount of effort into learning, understanding, and representing motions as manipulations for task execution by robots. The task of robot learning and problem-solving is…

Tidy-up tasks by service robots in home environments are challenging in robotics applications because they involve various interactions with the environment. In particular, robots are required not only to grasp, move, and release various…

This paper addresses the challenges of learning representations for recipes and food images in the cross-modal retrieval problem. As the relationship between a recipe and its cooked dish is cause-and-effect, treating a recipe as a text…

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…

Industrial robots can solve very complex tasks in controlled environments, but modern applications require robots able to operate in unpredictable surroundings as well. An increasingly popular reactive policy architecture in robotics is…

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 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…

An important task that domestic robots need to achieve is the recognition of states of food ingredients so they can continue their cooking actions. This project focuses on a fine-tuning algorithm for the VGG (Visual Geometry Group)…

In this paper, we report the results of our latest work on the automated generation of planning operators from human demonstrations, and we present some of our future research ideas. To automatically generate planning operators, our system…

Recently, Robotic Cooking has been a very promising field. To execute a recipe, a robot has to recognize different objects and their states. Contrary to object recognition, state identification has not been explored that much. But it is…

Since their recent introduction, process trees have been frequently used as a process modeling formalism in many process mining algorithms. A process tree is a tree-based model of a process, in which internal vertices represent behavioral…

We propose a new formulation for the multi-robot task planning and allocation problem that incorporates (a) precedence relationships between tasks; (b) coordination for tasks allowing multiple robots to achieve increased efficiency; and (c)…