Proceedings ArticleDOI
Designing a Cognitive Case-Based Planning Framework for Home Service Robots
Yuchul Jung,Hogun Park,Yoonjung Choi,Sung-Hyon Myaeng +3 more
- pp 827-832
TLDR
A case-based reasoning (CBR) approach to home-service-robot learning is taken and the cognitive HRI paradigm that includes four cognitive models (needs, task, interaction, and user model) for case adaptations to the given situation is incorporated.Abstract:
Home-service robots are expected to perform a wide range of tasks commonly encountered in a household environment. For autonomous operations robots should be able to plan their actions to carry out these tasks in advance and they should at least have the ability to plan for additional tasks during their operation. Because of the variability and uncertainty in the environment, it is best to endow robots with a learning-based task planning capability that rests on human-robot interaction (HRI). We take a case-based reasoning (CBR) approach to home-service-robot learning and incorporate the cognitive HRI paradigm that includes four cognitive models (needs, task, interaction, and user model) for case adaptations to the given situation. Given a new command from user, a robot finds the closest task case from already existing tasks to start with a plan and modifies it (i.e. action sequences) to adapt to the given situation based on the cognitive models. In order to promote the reusability and flexibility of task cases used in our CBR approach, a robot task description language (RTDL) is designed to represent tasks using an atomic action taxonomy [1]. The proposed approach is applied to a "Bring me a coke" scenario and implemented in our robot system called IDRO.read more
Citations
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Journal ArticleDOI
Home service robot task planning using semantic knowledge and probabilistic inference
TL;DR: Experimental results in simulation and real home environment demonstrate that the proposed hierarchical task network based on semantic knowledge and probabilistic inference method can effectively improve the performance of service robot task planning and generate better task execution sequence.
Proceedings ArticleDOI
A Model of Assessment of Knowledge Acquisition in Three-Dimensional Learning Virtual Environments
Eunice Pereira dos Santos Nunes,F'tima de Lourdes dos Santos Nunes,Romero Tori,Vani Moreira Kenski +3 more
TL;DR: A Theoretical Model for the Learning Evaluation that can be applied in many 3D LVEs contexts, as well as a proposal for its computer architecture, are presented as a way to investigate the contribution that LVPs effectively provide to learners' knowledge acquisition and how this learning process can be evaluated.
Proceedings ArticleDOI
Network-based multimodal Human-Robot Interactions in ubiquitous computing environment
TL;DR: This paper has constructed multimodal network-based interfaces for Human-Robot Interactions (HRI) and present examples in providing services via the direct or indirect interaction in responding to the user's demands.
Proceedings ArticleDOI
An improved JSHOP2 planner oriented to service robot multi-tasks planning
Fei Lu,Guohui Tian,Qing Li +2 more
TL;DR: An improved JSHOP2 planner integrated with robot task planning is built to solve the service robot multi-tasks planning and can realize multi-Tasks optimization and generate plans which are more likely to be satisfied by users.
Proceedings ArticleDOI
Supporting mixed initiative human-robot interaction: A script-based cognitive architecture approach
TL;DR: This paper proposes a script-based cognitive architecture for collaboration, which is based on three-level cognitive models and incorporates dynamic Bayesian network (DBN) to automatically govern action sequences in the scripts and detect userpsilas intention or goal.
References
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Proceedings ArticleDOI
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Journal ArticleDOI
Case-based reasoning: A review
Ian Watson,Farhi Marir +1 more
TL;DR: The paper outlines the development of CBR in the US in the 1980s and describes the fundamental techniques ofCBR and contrasts its approach to that of model-based reasoning systems.
Proceedings ArticleDOI
A task description language for robot control
Reid Simmons,David Apfelbaum +1 more
TL;DR: TDL is an extension of C++ that provides syntactic support for task decomposition, synchronization, execution monitoring, and exception handling, and a compiler transforms TDL into pure C++ code that utilizes a platform-independent task management library.
Book ChapterDOI
Techniques and Knowledge Used for Adaptation During Case-Based Problem Solving
Wolfgang Wilke,Ralph Bergmann +1 more
TL;DR: A process model of CBR and the used knowledge according to the different knowledge containers is introduced and the current models of adaptation are described and illustrated in an example domain.