ロボット調理のためのタスクトゥリー検索
Task Tree Retrieval for Robotic Cooking
人間の調理動作を知識表現FOONとして構造化し、動作成功率に基づく重み付き探索アルゴリズムでロボット調理タスクの失敗率低減を図った研究。
分類: cs.RO, cs.AI
原文アブストラクト
Robotics is used to foster creativity. Humans can perform jobs in their unique manner, depending on the circumstances. This situation applies to food cooking. Robotic technology in the kitchen can speed up the process and reduce its workload. However, the potential of robotics in the kitchen is still unrealized. In this essay, the idea of FOON, a structural knowledge representation built on insights from human manipulations, is introduced. To reduce the failure rate and ensure that the task is effectively completed, three different algorithms have been implemented where weighted values have been assigned to the manipulations depending on the success rates of motion. This knowledge representation was created using videos of open-sourced recipes