相关论文: Task Tree Retrieval For Robotic Cooking

This work presents a framework for a robot with a multi-fingered hand to freely utilize daily tools, including functional parts like buttons and triggers. An approach heatmap is generated by selecting a functional finger, indicating optimal…

To support humans in their daily lives, robots are required to autonomously learn, adapt to objects and environments, and perform the appropriate actions. We tackled on the task of cooking scrambled eggs using real ingredients, in which the…

Programming by demonstration is a strategy to simplify the robot programming process for non-experts via human demonstrations. However, its adoption for bimanual tasks is an underexplored problem due to the complexity of hand coordination,…

Complex object manipulation tasks often span over long sequences of operations. Task planning over long-time horizons is a challenging and open problem in robotics, and its complexity grows exponentially with an increasing number of…

This paper presents a comprehensive methodology for implementing knowledge graphs in ROS 2 systems, aiming to enhance the efficiency and intelligence of autonomous robotic missions. The methodology encompasses several key steps: defining…

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…

Task and motion planning (TAMP) algorithms have been developed to help robots plan behaviors in discrete and continuous spaces. Robots face complex real-world scenarios, where it is hardly possible to model all objects or their physical…

We present an AND/OR graph-based, integrated multi-robot task and motion planning approach which (i) performs task allocation coordinating the activity of a given number of robots, and (ii) is capable of handling tasks which involve an a…

To facilitate human--robot interaction (HRI) tasks in real-world scenarios, service robots must adapt to dynamic environments and understand the required tasks while effectively communicating with humans. To accomplish HRI in practice, we…

Emotions guide our decision making process and yet have been little explored in practical ethical decision making scenarios. In this challenge, we explore emotions and how they can influence ethical decision making in a home robot context:…

As in any interaction process, misunderstandings, ambiguity, and failures to correctly understand the interaction partner are bound to happen in human-robot interaction. We term these failures 'conflicts' and are interested in both conflict…

Autonomous feeding is challenging because it requires manipulation of food items with various compliance, sizes, and shapes. To understand how humans manipulate food items during feeding and to explore ways to adapt their strategies to…

Many applications in robotics require primitive spherical geometry, especially in cases where efficient distance queries are necessary. Manual creation of spherical models is time-consuming and prone to errors. This paper presents Foam, a…

A phoneme-retrieval technique is proposed, which is due to the particular way of the construction of the network. An initial set of neurons is given. The number of these neurons is approximately equal to the number of typical structures of…

This paper investigates the execution of tree-shaped task graphs using multiple processors. Each edge of such a tree represents a large IO file. A task can only be executed if all input and output files fit into memory, and a file can only…

Humans possess a remarkable talent for flexibly alternating to different senses when interacting with the environment. Picture a chef skillfully gauging the timing of ingredient additions and controlling the heat according to the colors,…

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…

Many of today's robot perception systems aim at accomplishing perception tasks that are too simplistic and too hard. They are too simplistic because they do not require the perception systems to provide all the information needed to…

This work proposes an engine for the Creation Of Novel Adventure Narrative (CONAN), which is a procedural quest generator. It uses a planning approach to story generation. The engine is tested on its ability to create quests, which are sets…

Robotic tactile perception is a complex process involving several computational steps performed at different levels. Tactile information is shaped by the interplay of robot actions, the mechanical properties of its body, and the software…