中文版 | English
Title

Relationship Oriented Semantic Scene Understanding for Daily Manipulation Tasks

Author
DOI
Publication Years
2022
Conference Name
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
ISSN
2153-0858
ISBN
978-1-6654-7928-8
Source Title
Pages
9926-9933
Conference Date
23-27 Oct. 2022
Conference Place
Kyoto, Japan
Publication Place
345 E 47TH ST, NEW YORK, NY 10017 USA
Publisher
Abstract
Assistive robot systems have been developed to help people accomplish daily manipulation tasks especially for those with disabilities, where scene understanding plays a crucial role in enabling robots to interpret the surroundings and behave accordingly. Most of the current systems approach scene understanding without considering the functional dependencies between objects. However, it is only valuable to interact with some objects when their function-relevant counterparts are considered. In this paper, we augment an assistive robotic arm system with an end-to-end semantic relationship reasoning model. It incorporates functional relationships between pairs of objects for semantic scene understanding. To ensure good generalization to unseen objects and relationships, the model works in a category-agnostic manner. We evaluate our design and three baseline methods on a self-collected benchmark with two levels of difficulty. To further demonstrate the effectiveness, the model is integrated with a symbolic planner for goaloriented, multi-step manipulation task on a real-world assistive robotic arm platform.
Keywords
SUSTech Authorship
First
Language
English
URL[Source Record]
Indexed By
Funding Project
National Natural Science Foundation of China[62103179] ; China Postdoctoral Science Foundation[2021M701576] ; Leading Talents Program of Guangdong Province[2016LJ06G498]
WOS Research Area
Automation & Control Systems ; Computer Science ; Engineering ; Robotics
WOS Subject
Automation & Control Systems ; Computer Science, Artificial Intelligence ; Engineering, Electrical & Electronic ; Robotics
WOS Accession No
WOS:000909405302042
Data Source
IEEE
PDF urlhttps://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9981960
Citation statistics
Cited Times [WOS]:0
Document TypeConference paper
Identifierhttp://kc.sustech.edu.cn/handle/2SGJ60CL/418667
DepartmentDepartment of Electrical and Electronic Engineering
Affiliation
1.Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China
2.Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Hong Kong SAR, China
3.Biomimetic and Intelligent Robotics Lab (BIRL), Guangdong University of Technology, Guangzhou, China
First Author AffilicationDepartment of Electrical and Electronic Engineering
First Author's First AffilicationDepartment of Electrical and Electronic Engineering
Recommended Citation
GB/T 7714
Chao Tang,Jingwen Yu,Weinan Chen,et al. Relationship Oriented Semantic Scene Understanding for Daily Manipulation Tasks[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2022:9926-9933.
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