Home service robot task planning using semantic knowledge and probabilistic inference

Wang, Zhongli; Tian, Guohui; Shao, Xuyang

doi:10.1016/j.knosys.2020.106174

Cited by 38 publications

(10 citation statements)

References 23 publications

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“…Another reason why we have decided to extend audio signal database for the TIAGo service robot is because, until now, most of the researches are done only in the field of the mobility of the robot inside home [7,8], not on the events recognition based on audio signals.…”

Section: Previous Results and Motivation For Updating The Audio Databasementioning

confidence: 99%

Audio Database for TIAGo Service Robot

Grama

Muscar

Rusu

et al. 2021

Carpathian Journal of Electronic and Computer Engineering

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In this paper we present an updated version of the audio database acquired by the TIAGo service robot and by the simulated TIAGo service robot. To the initial database which consists in 1380 audio signals we have added 1920 more acoustic signals. The audio database consists now in 3300 isolated audio events corresponding to 110 classes. All the recorded sound events correspond to the indoor environment, and they are spread into five different scenarios: kitchen, room, appliances, voice and non-verbal. The audio database is intended to be used in order to identify indoor events based on audio signature, especially when elderly or chronically ill people live alone.

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Section: Previous Results and Motivation For Updating The Audio Databasementioning

confidence: 99%

Audio Database for TIAGo Service Robot

Grama

Muscar

Rusu

et al. 2021

Carpathian Journal of Electronic and Computer Engineering

View full text Add to dashboard Cite

show abstract

“…The maintenance of domain knowledge is the guarantee for the implementation of service tasks in the hybrid cloud architecture of IS. For the classification of object knowledge, the ontologybased representation method of object knowledge proposed earlier [41] divides the attributes into six categories (i.e., visual, category, physical, functional, and operation), combining the characteristics of home objects and environment. Finally, the systematic and organized description of objects is realized.…”

Section: Integrated Representation Model Of Multi-domain Knowledge Un...mentioning

confidence: 99%

A Task-Oriented Hybrid Cloud Architecture with Deep Cognition Mechanism for Intelligent Space

Cui,

Tian,

Cheng

2023

Computers, Materials &Amp; Continua

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Intelligent Space (IS) is widely regarded as a promising paradigm for improving quality of life through using service task processing. As the field matures, various state-of-the-art IS architectures have been proposed. Most of the IS architectures designed for service robots face the problems of fixedfunction modules and low scalability when performing service tasks. To this end, we propose a hybrid cloud service robot architecture based on a Service-Oriented Architecture (SOA). Specifically, we first use the distributed deployment of functional modules to solve the problem of high computing resource occupancy. Then, the Socket communication interface layer is designed to improve the calling efficiency of the function module. Next, the private cloud service knowledge base and the dataset for the home environment are used to improve the robustness and success rate of the robot when performing tasks. Finally, we design and deploy an interactive system based on Browser/Server (B/S) architecture, which aims to display the status of the robot in real-time as well as to expand and call the robot service. This system is integrated into the private cloud framework, which provides a feasible solution for improving the quality of life. Besides, it also fully reveals how to actively discover and provide the robot service mechanism of service tasks in the right way. The results of extensive experiments show that our cloud system provides sufficient prior knowledge that can assist the robot in completing service tasks. It is an efficient way to transmit data and reduce the computational burden on the robot. By using our cloud detection module, the robot system can save approximately 25% of the average CPU usage and reduce the average detection time by 0.1 s compared to the locally deployed system, demonstrating the reliability and practicality of our proposed architecture.

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“…On the other hand, Wang et al [18] integrated Hierarchical Task Network and Probabilistic Inference to generate action sequences using multiple context types, but without natural language directives. These papers indicate that models can achieve surprising performances using information from only a single modality.…”

Section: Related Workmentioning

confidence: 99%

Understanding Natural Language in Context

Levy¹,

Karpas²

2022

Preprint

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Recent years have seen an increasing number of applications that have a natural language interface, either in the form of chatbots or via personal assistants such as Alexa (Amazon), Google Assistant, Siri (Apple), and Cortana (Microsoft). To use these applications, a basic dialog between the robot and the human is required. While this kind of dialog exists today mainly within "static" robots that do not make any movement in the household space, the challenge of reasoning about the information conveyed by the environment increases significantly when dealing with robots that can move and manipulate objects in our home environment. In this paper, we focus on cognitive robots [9], which have some knowledge-based models of the world and operate by reasoning and planning with this model. Thus, when the robot and the human communicate, there is already some formalism they can use -the robot's knowledge representation formalism. Our goal in this research is to translate natural language utterances into this robot's formalism, allowing much more complicated household tasks to be completed. We do so by combining off-the-shelf SOTA language models, planning tools, and the robot's knowledge-base for better communication. In addition, we analyze different directive types and illustrate the contribution of the world's context to the translation process.Preprint. Under review.

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Home service robot task planning using semantic knowledge and probabilistic inference

Cited by 38 publications

References 23 publications

Audio Database for TIAGo Service Robot

Audio Database for TIAGo Service Robot

A Task-Oriented Hybrid Cloud Architecture with Deep Cognition Mechanism for Intelligent Space

Understanding Natural Language in Context

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