An Everyday Robotic System that Maintains Local Rules Using Semantic Map Based on Long-Term Episodic Memory

To enable robots to work on real home environments, they have to not only consider common knowledge in the global society, but also be aware of existing rules there. Since such "local rules" are not describable beforehand, robot agents must acquire them through their lives after deployment...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Veröffentlicht in:2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) S. 1 - 7
Hauptverfasser: Furuta, Yuki, Okada, Kei, Kakiuchi, Yohei, Inaba, Masayuki
Format: Tagungsbericht
Sprache:Englisch
Veröffentlicht: IEEE 01.10.2018
Schlagworte:
Big Data in Robotics and Automation
Learning and Adaptive Systems
Planning
Probabilistic logic
Robot sensing systems
Semantics
Service Robots
Solid modeling
Task analysis
ISSN:2153-0866
Online-Zugang:Volltext
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
Abstract To enable robots to work on real home environments, they have to not only consider common knowledge in the global society, but also be aware of existing rules there. Since such "local rules" are not describable beforehand, robot agents must acquire them through their lives after deployment. To achieve this, we developed a framework that a) lets robots record long-term episodic memories in their deployed environments, b) autonomously builds probabilistic object localization map as structurization of logged data and c) make adapted task plans based on the map. We equipped our framework on PR2 and Fetch robots operating and recording episodic memory for 41 days with semantic common knowledge of the environment. We also conducted demonstrations in which a PR2 robot tidied up a room, showing that the robot agent can successfully plan and execute local-rule-aware home assistive tasks by using our proposed framework.
AbstractList To enable robots to work on real home environments, they have to not only consider common knowledge in the global society, but also be aware of existing rules there. Since such "local rules" are not describable beforehand, robot agents must acquire them through their lives after deployment. To achieve this, we developed a framework that a) lets robots record long-term episodic memories in their deployed environments, b) autonomously builds probabilistic object localization map as structurization of logged data and c) make adapted task plans based on the map. We equipped our framework on PR2 and Fetch robots operating and recording episodic memory for 41 days with semantic common knowledge of the environment. We also conducted demonstrations in which a PR2 robot tidied up a room, showing that the robot agent can successfully plan and execute local-rule-aware home assistive tasks by using our proposed framework.
Author Kakiuchi, Yohei
Furuta, Yuki
Inaba, Masayuki
Okada, Kei
Author_xml – sequence: 1
  givenname: Yuki
  surname: Furuta
  fullname: Furuta, Yuki
  organization: Department of Creative-Informatics, Graduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-city, Tokyo, 113-8656, Japan
– sequence: 2
  givenname: Kei
  surname: Okada
  fullname: Okada, Kei
  organization: Department of Creative-Informatics, Graduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-city, Tokyo, 113-8656, Japan
– sequence: 3
  givenname: Yohei
  surname: Kakiuchi
  fullname: Kakiuchi, Yohei
  organization: Department of Creative-Informatics, Graduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-city, Tokyo, 113-8656, Japan
– sequence: 4
  givenname: Masayuki
  surname: Inaba
  fullname: Inaba, Masayuki
  organization: Department of Creative-Informatics, Graduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-city, Tokyo, 113-8656, Japan
BookMark eNotUMtOwzAQNAgkSukHIC7-gRSv4zj2sVQtVGpVqY9z5dibEmjsKg5I-XtS0cNoZjS7c5hHcueDR0KegY0BmH5dbNbbMWegxirTQii4ISOdK8hSJRXTgt2SAe9dwpSUD2QU4xdjjEuVqlwMyPfE09kvNp0zHd2EIrSVpdsutljT9tO0dGUq3_aIdBmsOdHNzwkj3cfKH-kWa-MvDytzpm8moqPB93f-mOywqensXMXgLjnWoemeyH1pThFHVx6S_Xy2m34ky_X7YjpZJhXkWZtkJSs1qFJx0UvHdW4dg0KI0londcoRpEMmmHbKgtHIQJcSuHWiACggHZKX_94KEQ_npqpN0x2u86R_AWJarQ
ContentType Conference Proceeding
DBID 6IE
6IH
CBEJK
RIE
RIO
DOI 10.1109/IROS.2018.8594481
DatabaseName IEEE Electronic Library (IEL) Conference Proceedings
IEEE Proceedings Order Plan (POP) 1998-present by volume
IEEE Xplore All Conference Proceedings
IEEE Electronic Library (IEL)
IEEE Proceedings Order Plans (POP) 1998-present
DatabaseTitleList
Database_xml – sequence: 1
  dbid: RIE
  name: IEEE Electronic Library (IEL)
  url: https://ieeexplore.ieee.org/
  sourceTypes: Publisher
DeliveryMethod fulltext_linktorsrc
Discipline Engineering
EISBN 9781538680940
1538680947
EISSN 2153-0866
EndPage 7
ExternalDocumentID 8594481
Genre orig-research
GroupedDBID 6IE
6IF
6IG
6IH
6IL
6IN
AAJGR
AAWTH
ABLEC
ABQGA
ALMA_UNASSIGNED_HOLDINGS
BEFXN
BFFAM
BGNUA
BKEBE
BPEOZ
CBEJK
IEGSK
IJVOP
OCL
RIE
RIL
RIO
ID FETCH-LOGICAL-i175t-5f0f918f8245f0d297cd01b44fccd6932e16de0409d8c1a9e019f612cd4b11b13
IEDL.DBID RIE
ISICitedReferencesCount 3
ISICitedReferencesURI http://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=Summon&SrcAuth=ProQuest&DestLinkType=CitingArticles&DestApp=WOS_CPL&KeyUT=000458872706137&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
IngestDate Wed Aug 27 03:01:40 EDT 2025
IsPeerReviewed false
IsScholarly true
Language English
LinkModel DirectLink
MergedId FETCHMERGED-LOGICAL-i175t-5f0f918f8245f0d297cd01b44fccd6932e16de0409d8c1a9e019f612cd4b11b13
PageCount 7
ParticipantIDs ieee_primary_8594481
PublicationCentury 2000
PublicationDate 2018-October
PublicationDateYYYYMMDD 2018-10-01
PublicationDate_xml – month: 10
  year: 2018
  text: 2018-October
PublicationDecade 2010
PublicationTitle 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
PublicationTitleAbbrev IROS
PublicationYear 2018
Publisher IEEE
Publisher_xml – name: IEEE
SSID ssj0002683874
ssj0001079896
Score 2.108677
Snippet To enable robots to work on real home environments, they have to not only consider common knowledge in the global society, but also be aware of existing rules...
SourceID ieee
SourceType Publisher
StartPage 1
SubjectTerms Big Data in Robotics and Automation
Learning and Adaptive Systems
Planning
Probabilistic logic
Robot sensing systems
Semantics
Service Robots
Solid modeling
Task analysis
Title An Everyday Robotic System that Maintains Local Rules Using Semantic Map Based on Long-Term Episodic Memory
URI https://ieeexplore.ieee.org/document/8594481
WOSCitedRecordID wos000458872706137&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
hasFullText 1
inHoldings 1
isFullTextHit
isPrint
link http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV3NT8IwFG-QeNCLH2D8Tg8eHaxr2dqjGowmggQw4Ua6fuiiboQNE_57X8cCmnjxsnTttiyv3d77vf7eewhdaUqloYJ71ALSYb72PSE19YiO_UCK2EZSlcUmon6fTyZiUEPX61gYY0xJPjMt1yz38nWmFs5V1uYdAWgCsM5WFIWrWK2NP8WPBK9Sx7nzIOSUR6zayCS-aD8On0eOy8Vb1XN-FVQp9cn93v_eZB81N4F5eLBWOQeoZtJDtPsjp2ADvd-kuAvrc6nlEg-zOIOVgVd5yXHxJgvck0nq_AE5fnJ6DA8XHybHJXUAj8wnSBpu6MkZvgUFp3GWwnXpqzeGXzjuzpI8027cEXSXTfRy3x3fPXhVRQUvATOh8DrWt4JwywMGTR2ISGmfxIxZpXQIppwhoTbwXQvNFZHCgAFowQZSmsWExIQeoXqapeYY4dAGcciNNZYxB7KkEgBFtelYOASUnqCGE9t0tkqaMa0kdvp39xnacTOzYsmdo3oxX5gLtK2-iiSfX5Yz_Q0pCqle
linkProvider IEEE
linkToHtml http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV3dT8IwEG8ImqgvfoDx2z746GRdy9Y-qoFIBCSICW-k64cu6kZkmPDfex0LauKLL0vXbsty7Xb3u_7uDqELTak0VHCPWkA6zNe-J6SmHtGxH0gR20iqothE1O_z8VgMKuhyFQtjjCnIZ-bKNYu9fJ2puXOVNXhTAJoArLPWZCzwl9Fa3x4VPxK8TB7nzoOQUx6xciuT-KLRGT48OjYXvyqf9KukSqFR2tv_e5cdVP8OzcODldLZRRWT7qGtH1kFa-j1OsUtWKELLRd4mMUZrA28zEyO8xeZ455MUucRmOGu02R4OH8zM1yQB_CjeQdZww09OcU3oOI0zlK4Ln32RvATx61pMsu0G3cU3UUdPbVbo9s7r6yp4CVgKORe0_pWEG55wKCpAxEp7ZOYMauUDsGYMyTUBr5sobkiUhgwAS1YQUqzmJCY0H1UTbPUHCAc2iAOubHGMuZgllQCwKg2TQuHgNJDVHNim0yXaTMmpcSO_u4-Rxt3o1530u3074_RppulJWfuBFXzj7k5RevqM09mH2fFrH8BJuespQ
openUrl ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=proceeding&rft.title=2018+IEEE%2FRSJ+International+Conference+on+Intelligent+Robots+and+Systems+%28IROS%29&rft.atitle=An+Everyday+Robotic+System+that+Maintains+Local+Rules+Using+Semantic+Map+Based+on+Long-Term+Episodic+Memory&rft.au=Furuta%2C+Yuki&rft.au=Okada%2C+Kei&rft.au=Kakiuchi%2C+Yohei&rft.au=Inaba%2C+Masayuki&rft.date=2018-10-01&rft.pub=IEEE&rft.eissn=2153-0866&rft.spage=1&rft.epage=7&rft_id=info:doi/10.1109%2FIROS.2018.8594481&rft.externalDocID=8594481