The learning-from-observation (LfO) paradigm allows a robot to learn how to perform actions by observing human actions. Previous research in top-down learning-from-observation has mainly focused on the industrial domain, which consists only of the real physical constraints between a manipulated tool and the robot\u2019s working environment. To extend this paradigm to the household domain, which consists of imaginary constraints derived from human common sense, we introduce the idea of semantic constraints, which are represented similarly to the physical constraints by defining an imaginary contact with an imaginary environment. By studying the transitions between contact states under physical and semantic constraints, we derive a necessary and sufficient set of task representations that provides the upper bound of the possible task set. We then apply the task representations to analyze various actions in top-rated household YouTube videos and real home cooking recordings, classify frequently occurring constraint patterns into physical, semantic, and multi-step task groups, and determine a subset that covers standard household actions. Finally, we design and implement task models, corresponding to these task representations in the subset, with the necessary daemon functions to collect the necessary parameters to perform the corresponding household actions. Our results provide promising directions for incorporating common sense into the robot teaching literature.<\/p>\n","protected":false},"excerpt":{"rendered":"
The learning-from-observation (LfO) paradigm allows a robot to learn how to perform actions by observing human actions. Previous research in top-down learning-from-observation has mainly focused on the industrial domain, which consists only of the real physical constraints between a manipulated tool and the robot\u2019s working environment. To extend this paradigm to the household domain, which […]<\/p>\n","protected":false},"featured_media":0,"template":"","meta":{"msr-url-field":"","msr-podcast-episode":"","msrModifiedDate":"","msrModifiedDateEnabled":false,"ep_exclude_from_search":false,"_classifai_error":"","msr-author-ordering":null,"msr_publishername":"","msr_publisher_other":"","msr_booktitle":"","msr_chapter":"","msr_edition":"","msr_editors":"","msr_how_published":"","msr_isbn":"","msr_issue":"2","msr_journal":"","msr_number":"","msr_organization":"","msr_pages_string":"","msr_page_range_start":"134","msr_page_range_end":"170","msr_series":"","msr_volume":"43","msr_copyright":"Open Access","msr_conference_name":"","msr_doi":"","msr_arxiv_id":"","msr_s2_paper_id":"","msr_mag_id":"","msr_pubmed_id":"","msr_other_authors":"","msr_other_contributors":"","msr_speaker":"","msr_award":"","msr_affiliation":"","msr_institution":"","msr_host":"","msr_version":"","msr_duration":"","msr_original_fields_of_study":null,"msr_release_tracker_id":"","msr_s2_match_type":"","msr_citation_count_updated":"","msr_published_date":"2023-11-28","msr_highlight_text":"","msr_notes":"","msr_longbiography":"","msr_publicationurl":"","msr_external_url":"","msr_secondary_video_url":"","msr_conference_url":"","msr_journal_url":"","msr_s2_pdf_url":"","msr_year":0,"msr_citation_count":0,"msr_influential_citations":0,"msr_reference_count":0,"msr_s2_match_confidence":0,"msr_microsoftintellectualproperty":true,"msr_s2_open_access":false,"msr_s2_author_ids":[],"msr_pub_ids":[],"msr_hide_image_in_river":0,"footnotes":""},"msr-research-highlight":[],"research-area":[13556,13562,13554],"msr-publication-type":[193715],"msr-publisher":[],"msr-focus-area":[],"msr-locale":[268875],"msr-post-option":[],"msr-field-of-study":[246691],"msr-conference":[],"msr-journal":[268476],"msr-impact-theme":[],"msr-pillar":[],"class_list":["post-821698","msr-research-item","type-msr-research-item","status-publish","hentry","msr-research-area-artificial-intelligence","msr-research-area-computer-vision","msr-research-area-human-computer-interaction","msr-locale-en_us","msr-field-of-study-computer-science"],"msr_publishername":"","msr_edition":"","msr_affiliation":"","msr_published_date":"2023-11-28","msr_host":"","msr_duration":"","msr_version":"","msr_speaker":"","msr_other_contributors":"","msr_booktitle":"","msr_pages_string":"","msr_chapter":"","msr_isbn":"","msr_journal":"","msr_volume":"43","msr_number":"","msr_editors":"","msr_series":"","msr_issue":"2","msr_organization":"","msr_how_published":"","msr_notes":"","msr_highlight_text":"","msr_release_tracker_id":"","msr_original_fields_of_study":"","msr_download_urls":"","msr_external_url":"","msr_secondary_video_url":"","msr_longbiography":"","msr_microsoftintellectualproperty":1,"msr_main_download":"","msr_publicationurl":"","msr_doi":"","msr_publication_uploader":[{"type":"doi","viewUrl":"false","id":"false","title":"https:\/\/doi.org\/10.1177\/02783649231212929","label_id":"243106","label":0},{"type":"url","viewUrl":"false","id":"false","title":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/02783649231212929","label_id":"243132","label":0}],"msr_related_uploader":"","msr_citation_count":0,"msr_citation_count_updated":"","msr_s2_paper_id":"","msr_influential_citations":0,"msr_reference_count":0,"msr_arxiv_id":"","msr_s2_author_ids":[],"msr_s2_open_access":false,"msr_s2_pdf_url":null,"msr_attachments":[],"msr-author-ordering":[{"type":"text","value":"Katsushi Ikeuchi","user_id":0,"rest_url":false},{"type":"text","value":"Naoki Wake","user_id":0,"rest_url":false},{"type":"text","value":"Kazuhiro Sasabuchi","user_id":0,"rest_url":false},{"type":"text","value":"Jun Takamatsu","user_id":0,"rest_url":false}],"msr_impact_theme":[],"msr_research_lab":[],"msr_event":[],"msr_group":[1057371],"msr_project":[821527],"publication":[],"video":[],"msr-tool":[],"msr_publication_type":"article","related_content":{"projects":[{"ID":821527,"post_title":"Interactive Learning-from-Observation","post_name":"interactive-learning-from-observation","post_type":"msr-project","post_date":"2022-02-24 20:57:14","post_modified":"2025-01-29 14:49:10","post_status":"publish","permalink":"https:\/\/cm-edgetun.pages.dev\/en-us\/research\/project\/interactive-learning-from-observation\/","post_excerpt":"Service-robot solutions to empower senior citizens \u200b to achieve more and to enhance their lives The goal of this project is to develop an interactive learning-from-observation (LfO) system in the service-robot domain so as to empower senior citizens to achieve more and enhance their lives. 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