构建概念层次结构，让机器人理解家庭环境中的物体、动作与技能关系。
Using The Concept Hierarchy for Household Action Recognition
- 用分层结构同时建模物体、人和环境变化
- 支持动作识别与任务规划，提升系统泛化能力
- 适合需要理解家庭场景的智能机器人研究
我们提出一种系统化表示环境静态成分（如物体）和动态成分（如人）的方法，以及环境中发生的改变（如动作和技能）。所提出的概念层次结构为自主系统提供了表征环境状态、进行动作建模与识别、规划任务执行所需的信息。该层次结构还支持知识迁移和泛化能力。我们明确定义了任务、动作、技能和可操作性，使动作与技能识别具有人类可理解性。
原文摘要 · Abstract (English)
We propose a method to systematically represent both the static and the dynamic components of environments, i.e. objects and agents, as well as the changes that are happening in the environment, i.e. the actions and skills performed by agents. Our approach, the Concept Hierarchy, provides the necessary information for autonomous systems to represent environment states, perform action modeling and recognition, and plan the execution of tasks. Additionally, the hierarchical structure supports generalization and knowledge transfer to environments. We rigorously define tasks, actions, skills, and affordances that enable human-understandable action and skill recognition.
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