机器人在日常活动中的操作与CRAM 2.0认知架构和广义的行动计划

IF 2.1 3区心理学 Q3 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE

Cognitive Systems Research Pub Date : 2025-06-21 DOI:10.1016/j.cogsys.2025.101375

Michael Beetz , Gayane Kazhoyan , David Vernon

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引用次数: 0

摘要

CRAM 2.0机器人认知架构为日常活动的机器人操作设计模式的基于知识的实例化提供了一个框架。这些设计模式采用广义行动计划的形式，通过CRAM 2.0将其转换为参数化的低级行动计划，使用知识和推理与上下文模型来识别将成功执行完成任务所需的行动的运动参数值。通过这种方式，CRAM 2.0执行隐式到显式的操作，将未指定的高级目标映射到完成该目标所需的特定低级动作。我们展示了一个cramc控制的机器人在厨房环境中进行日常活动的能力。

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Robot manipulation in everyday activities with the CRAM 2.0 cognitive architecture and generalized action plans

The CRAM 2.0 robot cognitive architecture provides a framework for knowledge-based instantiation of robot manipulation design patterns for everyday activities. These design patterns take the form of generalized action plans, which are transformed by CRAM 2.0 into parameterized low-level motion plans, using knowledge and reasoning with a contextual model to identify the motion parameter values that will successfully perform the actions required to accomplish the task. In this way, CRAM 2.0 performs implicit-to-explicit manipulation, mapping an under-specified high-level goal to the specific low-level motions required to accomplish the goal. We demonstrate the ability of a CRAM-controlled robot to carry out everyday activities in a kitchen environment.

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来源期刊

Cognitive Systems Research 工程技术-计算机：人工智能

CiteScore

9.40

自引率

5.10%

发文量

审稿时长

>12 weeks

期刊介绍： Cognitive Systems Research is dedicated to the study of human-level cognition. As such, it welcomes papers which advance the understanding, design and applications of cognitive and intelligent systems, both natural and artificial. The journal brings together a broad community studying cognition in its many facets in vivo and in silico, across the developmental spectrum, focusing on individual capacities or on entire architectures. It aims to foster debate and integrate ideas, concepts, constructs, theories, models and techniques from across different disciplines and different perspectives on human-level cognition. The scope of interest includes the study of cognitive capacities and architectures - both brain-inspired and non-brain-inspired - and the application of cognitive systems to real-world problems as far as it offers insights relevant for the understanding of cognition. Cognitive Systems Research therefore welcomes mature and cutting-edge research approaching cognition from a systems-oriented perspective, both theoretical and empirically-informed, in the form of original manuscripts, short communications, opinion articles, systematic reviews, and topical survey articles from the fields of Cognitive Science (including Philosophy of Cognitive Science), Artificial Intelligence/Computer Science, Cognitive Robotics, Developmental Science, Psychology, and Neuroscience and Neuromorphic Engineering. Empirical studies will be considered if they are supplemented by theoretical analyses and contributions to theory development and/or computational modelling studies.