论文标题
机器人烹饪的知识检索
Knowledge Retrieval for Robotic Cooking
论文作者
论文摘要
在需要具有指定规格的数据检索的情况下，应用搜索算法。在功能性对象的网络中开发搜索算法的动机是，大多数情况下，需要检索某些食谱或需要确定某个食谱的成分。根据引言，曾经有一段时间无法为机器人执行整个食谱，从而促使需要检索某些食谱或成分。借助高质量的Foon，机器人可以破译任务目标，在需要操作并输出一系列适当的操作动作的所需状态下找到正确的对象。本文展示了几种提议的加权Foon和任务计划算法，这些算法允许机器人和人类成功完成复杂的任务以及比单独这样做的人更高的成功率。
Search algorithms are applied where data retrieval with specified specifications is required. The motivation behind developing search algorithms in Functional Object-Oriented Networks is that most of the time, a certain recipe needs to be retrieved or ingredients for a certain recipe needs to be determined. According to the introduction, there is a time when execution of an entire recipe is not available for a robot thus prompting the need to retrieve a certain recipe or ingredients. With a quality FOON, robots can decipher a task goal, find the correct objects at the required states on which to operate and output a sequence of proper manipulation motions. This paper shows several proposed weighted FOON and task planning algorithms that allow a robot and a human to successfully complete complicated tasks together with higher success rates than a human doing them alone.
