FOONを用いたロボットタスク実行へのロードマップ
A Road-map to Robot Task Execution with the Functional Object-Oriented Network
機能物体指向ネットワーク(FOON)をロボットのタスク計画や実演からの知識獲得に活用するための将来展望と、実世界での構築手法の初期提案を行う論文。
著者: David Paulius, Alejandro Agostini, Yu Sun, Dongheui Lee
分類: cs.RO, cs.AI
原文アブストラクト
Following work on joint object-action representations, the functional object-oriented network (FOON) was introduced as a knowledge graph representation for robots. Taking the form of a bipartite graph, a FOON contains symbolic or high-level information that would be pertinent to a robot's understanding of its environment and tasks in a way that mirrors human understanding of actions. In this work, we outline a road-map for future development of FOON and its application in robotic systems for task planning as well as knowledge acquisition from demonstration. We propose preliminary ideas to show how a FOON can be created in a real-world scenario with a robot and human teacher in a way that can jointly augment existing knowledge in a FOON and teach a robot the skills it needs to replicate the demonstrated actions and solve a given manipulation problem.
