Title | Relationship Oriented Semantic Scene Understanding for Daily Manipulation Tasks |
Author | |
DOI | |
Publication Years | 2022
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Conference Name | IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
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ISSN | 2153-0858
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ISBN | 978-1-6654-7928-8
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Source Title | |
Pages | 9926-9933
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Conference Date | 23-27 Oct. 2022
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Conference Place | Kyoto, Japan
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Publication Place | 345 E 47TH ST, NEW YORK, NY 10017 USA
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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
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Language | English
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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]
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WOS Research Area | Automation & Control Systems
; Computer Science
; Engineering
; Robotics
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WOS Subject | Automation & Control Systems
; Computer Science, Artificial Intelligence
; Engineering, Electrical & Electronic
; Robotics
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WOS Accession No | WOS:000909405302042
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Data Source | IEEE
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PDF url | https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9981960 |
Citation statistics |
Cited Times [WOS]:0
|
Document Type | Conference paper |
Identifier | http://kc.sustech.edu.cn/handle/2SGJ60CL/418667 |
Department | Department 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 Affilication | Department of Electrical and Electronic Engineering |
First Author's First Affilication | Department 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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