Semantic Representation of Robot Manipulation with Knowledge Graph

摘要

Autonomous indoor service robots are affected by multiple factors when they are directly involved in manipulation tasks in daily life, such as scenes, objects, and actions. It is of self-evident importance to properly parse these factors and interpret intentions according to human cognition and semantics. In this study, the design of a semantic representation framework based on a knowledge graph is presented, including (1) a multi-layer knowledge-representation model, (2) a multi-module knowledge-representation system, and (3) a method to extract manipulation knowledge from multiple sources of information. Moreover, with the aim of generating semantic representations of entities and relations in the knowledge base, a knowledge-graph-embedding method based on graph convolutional neural networks is proposed in order to provide high-precision predictions of factors in manipulation tasks. Through the prediction of action sequences via this embedding method, robots in real-world environments can be effectively guided by the knowledge framework to complete task planning and object-oriented transfer.