Learning spatial relations from functional simulation
Learning spatial relations from functional simulation
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DOI：
10.1109/iros.2011.6094780
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发表时间：
2011-12
期刊：
影响因子：
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通讯作者：
K. Sjöö;P. Jensfelt
中科院分区：
文献类型：
--
作者：
K. Sjöö;P. Jensfelt
在复杂环境中工作的机器人不仅需要知道物体，还需要知道物体之间的关系。本文提出了一个概念，这些关系的任务相关的功能区分，如支持，位置控制，保护和限制。能够辨别场景中的这种关系对于机器人在实际任务中将是重要的;因此，它演示了如何使用物理模拟的数据来训练预测模型。由此产生的模型被证明是高度预测性和直观合理的。
Robots acting in complex environments need not only be aware of objects, but also of the relationships objects have with each other. This paper suggests a conceptualization of these relationships in terms of task-relevant functional distinctions, such as support, location control, protection and confinement. Being able to discern such relations in a scene will be important for robots in practical tasks; accordingly, it is demonstrated how predictive models can be trained using data from physics simulations. The resulting models are shown to be both highly predictive and intuitively reasonable.