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— This paper introduces the Assistive Kitchen as a comprehensive demonstration and challenge scenario for technical cognitive systems. We describe its hardware and software infrastructure. Within the Assistive Kitchen application, we select particular domain activities as research subjects and identify the cognitive capabilities needed for perceiving,(More)
—In this paper we report on a recent public experiment that shows two robots making pancakes using web instructions. In the experiment, the robots retrieve instructions for making pancakes from the World Wide Web and generate robot action plans from the instructions. This task is jointly performed by two autonomous robots: The first robot opens and closes(More)
— As robots are starting to perform everyday manipulation tasks, such as cleaning up, setting a table or preparing simple meals, their control programs must become much more knowledgeable than they are today. Typically, everyday manipulation tasks are specified vaguely and the robot must therefore infer by itself how to do the appropriate actions to the(More)
— We propose a new method for automatically ac-cessing an internet database of 3D models that are searchable only by their user-annotated labels, for using them for vision and robotic manipulation purposes. Instead of having only a local database containing already seen objects, we want to use shared databases available over the internet. This approach(More)
— Robotic grasping in an open environment requires both object-specific as well as general grasping skills. When the objects are previously known it is possible to employ techniques that exploit object models, like geometrical grasping simulators. On the other hand, a competent system will also be able to deal with unmodeled objects using general solutions.(More)
— In this paper, we investigate the problem of 3D object categorization of objects typically present in kitchen environments , from data acquired using a composite sensor. Our framework combines different sensing modalities and defines descriptive features in various spaces for the purpose of learning good object models. By fusing the 3D information(More)
— Humanoid robotic assistants need capable and comprehensive perception systems that enable them to perform complex manipulation and grasping tasks. This requires the identification and recognition of supporting planes and objects in the world, together with their precise 3D pose. In this paper, we propose a 3D perception system architecture that can(More)
This paper investigates the " inside-out " recognition of everyday manipulation tasks using a gaze-directed camera, which is a camera that actively directs at the visual attention focus of the person wearing the camera. We present EYEWATCHME, an integrated vision and state estimation system that at the same time tracks the positions and the poses of the(More)
— In this paper we propose a novel approach to detect and reconstruct transparent objects. This approach makes use of the fact that many transparent objects, especially the ones consisting of usual glass, absorb light in certain wavelengths [1]. Given a controlled illumination, this absorbtion is measurable in the intensity response by comparison to the(More)