Recent advances in robot‐assisted echography: combining perception, control and cognition

Lu, Zhenyu; Li, Miao; Yang, Chenguang

doi:10.1049/ccs.2020.0015

Cited by 7 publications

(1 citation statement)

References 88 publications

(109 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The objective of current work mostly focuses on how to generate a good manipulation to grasp target objects from clutter. Recently, complex robotic tasks in unknown or unstructured environments tend to be the combining of perception, control, and cognition [21] [20]. The objective of the proposed MQA task further involves a cognitive purpose, which require the robot to generate a sequence of manipulation actions to explore the environment and answer people's questions.…”

Section: B Robotic Manipulation In Cluttermentioning

confidence: 99%

MQA: Answering the Question via Robotic Manipulation

Deng

Guo

et al. 2021

Robotics: Science and Systems XVII

View full text Add to dashboard Cite

In this paper, we propose a novel task, Manipulation Question Answering (MQA), where the robot performs manipulation actions to change the environment in order to answer a given question. To solve this problem, a framework consisting of a QA module and a manipulation module is proposed. For the QA module, we adopt the method for the Visual Question Answering (VQA) task. For the manipulation module, a Deep Q Network (DQN) model is designed to generate manipulation actions for the robot to interact with the environment. We consider the situation where the robot continuously manipulating objects inside a bin until the answer to the question is found. Besides, a novel dataset that contains a variety of object models, scenarios and corresponding question-answer pairs is established in a simulation environment. Extensive experiments have been conducted to validate the effectiveness of the proposed framework.

show abstract

Section: B Robotic Manipulation In Cluttermentioning

confidence: 99%