Interpreting and Executing Recipes with a Cooking Robot.

摘要

The creation of a robot chef represents a grand challenge for the field of robotics. Cooking is one of the most important activities that takes place in the home, and a robotic chef capable of following arbitrary recipes would have many applications in both household and industrial environments. The kitchen environment is a semi-structured proving ground for algorithms in robotics. It provides many computa-tional challenges, such as accurately perceiving ingredients in cluttered environ-ments, manipulating objects, and engaging in complex activities such as mixing and chopping. Yet it also allows for reasonable simplifying assumptions due to the in-herent organization of a kitchen around a human-centric workspace, the consistency of kitchen tools and tasks, and the ordered nature of recipes. We envision a robotic chef, the BakeBot, which can collect recipes online, parse them into a sequence of low-level actions, and execute them for the benefit of its human partners. We present first steps towards this vision, by combining techniques for object perception, ma-nipulation, and language understanding to develop a novel end-to-end robot system able to follow simple recipes and by experimentally assessing the performance of these approaches in the kitchen domain.1 2