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

本计画建构一个功能物件导向网路（FOON）来模拟操作任务中功能相关物件的连接性及其功能动作。通过观察对象的状态变化和人类对对象的操作来开发和学习图形模型FOON。训练有素的FOON使机器人能够破译任务目标，在所需状态下寻找正确的物体，并生成最佳运动，最终使机器人能够执行日常生活任务，并为残疾人和老年人提供所需的帮助。该项目构建了一个具有代表性厨房对象的厨房环境和一个虚拟环境，以收集训练数据，并从两个环境中执行的自发操作任务的观察中学习一个代表性FOON。在拟议的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充分探索日常生活任务，并为其他相关研究提供优秀的训练和测试数据集。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。在培训中，将技能分解用于教学和培训评估也是有用的。该项目通过USF的特殊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，并通过出版物和纳入课程广泛传播研究成果。

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.