A Knowledge Processing Service for Robots and Robotics/AI Researchers

Making future autonomous robots capable of accomplishing human-scale manipulation tasks requires us to equip them with knowledge and reasoning mechanisms. We propose OPEN-EASE, a remote knowledge representation and processing service that aims at facilitating these capabilities. OPEN-EASE gives its users unprecedented access to the knowl- edge of leading-edge autonomous robotic agents. It also provides the representational infrastructure to make inhomogeneous experience data from robots and human manipulation episodes semantically accessible, and is complemented by a suite of software tools that enable researchers and robots to interpret, analyze, visualize, and learn from the experience data. Using OPEN-EASE users can retrieve the memorized experiences of manipulation episodes and ask queries regarding to what the robot saw, reasoned, and did as well as how the robot did it, why, and what effects it caused.

[1]  Henry A. Kautz,et al.  Reasoning about plans , 1991, Morgan Kaufmann series in representation and reasoning.

[2]  Raffaello D'Andrea,et al.  Rapyuta: The RoboEarth Cloud Engine , 2013, 2013 IEEE International Conference on Robotics and Automation.

[3]  Moritz Tenorth,et al.  Decomposing CAD models of objects of daily use and reasoning about their functional parts , 2013, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[4]  Malik Ghallab,et al.  On Chronicles: Representation, On-line Recognition and Learning , 1996, KR.

[5]  Jens Lehmann,et al.  DBpedia: A Nucleus for a Web of Open Data , 2007, ISWC/ASWC.

[6]  Alex M. Andrew,et al.  Knowledge in Action: Logical Foundations for Specifying and Implementing Dynamical Systems , 2002 .

[7]  Masayuki Inaba,et al.  Integrating Recognition and Action Through Task-Relevant Knowledge for Daily Assistive Humanoids , 2009, Adv. Robotics.

[8]  Nico Blodow,et al.  Cognition-Enabled Autonomous Robot Control for the Realization of Home Chore Task Intelligence , 2012, Proc. IEEE.

[9]  Drew McDermott,et al.  A Temporal Logic for Reasoning About Processes and Plans , 1982, Cogn. Sci..

[10]  Witold Lukaszewicz,et al.  Reasoning about Plans , 1997, IJCAI.

[11]  Kenneth Y. Goldberg,et al.  Cloud-based robot grasping with the google object recognition engine , 2013, 2013 IEEE International Conference on Robotics and Automation.

[12]  Ken Goldberg,et al.  Cloud Robotics and Automation: A Survey of Related Work , 2013 .

[13]  Moritz Tenorth,et al.  CRAM — A Cognitive Robot Abstract Machine for everyday manipulation in human environments , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[14]  Steve Cousins,et al.  The SMACH High-Level Executive , 2010 .

[15]  E Guizzo,et al.  Robots with their heads in the clouds , 2011 .

[16]  Toshihiro Tanaka.  The International HapMap Project , 2003, Nature.

[17]  Kristina Chodorow,et al.  MongoDB: The Definitive Guide , 2010 .

[18]  Moritz Tenorth,et al.  The TUM Kitchen Data Set of everyday manipulation activities for motion tracking and action recognition , 2009, 2009 IEEE 12th International Conference on Computer Vision Workshops, ICCV Workshops.

[19]  R. Chatila,et al.  Towards Human-Aware Cognitive Robots , 2006 .

[20]  John McCarthy,et al.  SOME PHILOSOPHICAL PROBLEMS FROM THE STANDPOINT OF ARTI CIAL INTELLIGENCE , 1987 .

[21]  Moritz Tenorth,et al.  KnowRob: A knowledge processing infrastructure for cognition-enabled robots , 2013, Int. J. Robotics Res..

[22]  Moritz Tenorth,et al.  The RoboEarth language: Representing and exchanging knowledge about actions, objects, and environments , 2012, 2012 IEEE International Conference on Robotics and Automation.

[23]  Bernt Schiele,et al.  A database for fine grained activity detection of cooking activities , 2012, 2012 IEEE Conference on Computer Vision and Pattern Recognition.

[24]  Gerhard Lakemeyer,et al.  A generic robot database and its application in fault analysis and performance evaluation , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[25]  Thomas Vogt,et al.  Reinventing Discovery: The New Era of Networked Science , 2012 .

[26]  Moritz Tenorth,et al.  RoboEarth - A World Wide Web for Robots , 2011, ICRA 2011.

[27]  Odest Chadwicke Jenkins,et al.  Rosbridge: ROS for Non-ROS Users , 2011, ISRR.

[28]  Moritz Tenorth,et al.  CRAMm -- Memories for Robots Performing Everyday Manipulation Activities , 2014 .

[29]  Alexey Melnikov,et al.  The WebSocket Protocol , 2011, RFC.

[30]  James F. Allen.  Maintaining knowledge about temporal intervals , 1983, CACM.

[31]  Odest Chadwicke Jenkins,et al.  Robot Web Tools [ROS Topics] , 2012, IEEE Robotics Autom. Mag..

[32]  Nancy M. Amato,et al.  A Roadmap for US Robotics - From Internet to Robotics 2020 Edition , 2021, Found. Trends Robotics.

[33]  Rakesh Gupta,et al.  Common Sense Data Acquisition for Indoor Mobile Robots , 2004, AAAI.

[34]  Dejan Pangercic,et al.  Web-enabled Robots -- Robots that Use the Web as an Information Resource , 2011, ICRA 2011.

[35]  Brian C. Williams,et al.  Model-based programming of intelligent embedded systems and robotic space explorers , 2003, Proc. IEEE.

[36]  Rainer Bischoff,et al.  Robotic Visions to 2020 and beyond -- The strategic research agenda for robotics in Europe , 2009 .

[37]  Boris Motik,et al.  OWL 2 Web Ontology Language: structural specification and functional-style syntax , 2008 .

[38]  Jessica K. Hodgins,et al.  Guide to the Carnegie Mellon University Multimodal Activity (CMU-MMAC) Database , 2008 .

[39]  Allan R. Jones,et al.  An anatomically comprehensive atlas of the adult human brain transcriptome , 2012, Nature.