RI: Small: Functional Object-Oriented Network for Manipulation Learning

RI：小型：用于操作学习的功能性面向对象网络

• 批准号: 1421418
• 负责人: Yu Sun
• 金额: $ 39.85万
• 依托单位: University of South Florida
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2014
• 资助国家: 美国
• 起止时间: 2014-08-15 至 2019-07-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1421418&HistoricalAwards=false
• 关键词: RI; Small; Functional; Object; Oriented

This project constructs a functional object-oriented network (FOON) to model the connectivity of the functional-related objects and their functional motions in manipulation tasks. The graphical model FOON are developed and learned by observing state change of objects and human manipulations with the objects. A well-trained FOON enables robots to decipher a task goal, seek the correct objects at the desired states, and generate an optimal motion, which eventually allows robots to perform daily living tasks and provide needed help to people with disabilities and seniors. The project builds a kitchen environment with representative kitchen objects and a virtual environment to collect training data and learn a representative FOON from the observations of self-generated manipulation tasks performed in both environments. The data collected in the proposed work enables researchers to fully explore daily living tasks from the object state and object motion point of view and provide excellent training and testing data sets for other related research. The FOON provides a powerful tool for discovering new insights in neuroscience, cognitive science, and psychology. It is also useful in training to break down skills for teaching and training evaluation. This project draws additional minority students through the exceptional diversity programs that exist at USF. The project supports a summer camp to attract young students to STEM careers and the research results are widely disseminated through publications and inclusion in courses.

该项目构建了一个面向对象的网络（FOON），以建模与功能相关对象的连接及其在操作任务中的功能运动。图形模型FOON是通过观察对象和人类操纵的状态变化来开发和学习的。训练有素的Foon使机器人能够破译任务目标，在所需状态寻求正确的对象，并产生最佳运动，最终使机器人可以执行日常生活任务，并为残疾人和老年人提供所需的帮助。该项目建立了一个具有代表性厨房对象和虚拟环境的厨房环境，以收集培训数据并从两种环境中执行的自我生成的操纵任务的观察结果中学习代表性的Foon。拟议工作中收集的数据使研究人员能够从对象状态和对象运动的角度完全探索日常生活任务，并为其他相关研究提供出色的培训和测试数据集。 Foon为发现神经科学，认知科学和心理学的新见解提供了强大的工具。它在培训以分解教学和培训评估技能方面也很有用。该项目通过USF存在的非凡多样性计划吸引了更多的少数民族学生。该项目支持一个夏令营，以吸引年轻学生从事STEM职业生涯，研究结果通过出版物和课程包括在内。