Dhanabalachandran, Kaviya
Loading...
Preferred name
Dhanabalachandran, Kaviya
Official Name
Dhanabalachandran, Kaviya
Main Affiliation
ORCID
GND
3 results
Now showing 1 - 3 of 3
- Some of the metrics are blocked by yourconsent settings
Item type:Publication, Towards Reactive Robotics with a Pinch of Image-Schematic ReasoningToday’s robots do not possess a deep understanding of interactions between physical objects that is also available to their behavior generation modules and as such show brittle performance in realistic environments. While this suggests a robot would therefore need more knowledge, its decisions should not be too complicated to arrive at or else the robot risks losing track of what matters from its environment. Thus, we investigate a mix of reactive approaches to robotics and reasoning, and propose a simplified theory of typical changes between image schemas. We show how this theory could be integrated in a robot’s perception-action loop, and describe some examples of using this theory to infer actions and perception queries for various stages of a pouring task. We are integrating this inference procedure into a simulated robot, but this integration is yet to be completed and as such, future work.conference paper34 17 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, A balancing act: Ordering algorithm and image-schematic action descriptors for stacking objects by household robotsOptimising object order in stacking problems remains a hard problem for cognitive robotics research. In this paper, we continue our work on using the spatiotemporal relationships called image schemas to represent affordance spaces founded on object properties. Based on object properties, we introduce a stacking-order algorithm and describe the action descriptors using an image-schematic event segmentation format by describing a small subset using the Image Schema Logic ISL𝐹𝑂𝐿.conference paper25 21 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Getting On Top of Things: Towards Intelligent Robotic Object Stacking through Image-Schematic ReasoningIn this extended abstract, we present initial work on intelligent object stacking by household robots using a symbolic approach grounded in image schema research. Image schemas represent spatiotemporal relationships that capture objects’ affordances and dispositions. Therefore, they offer the first step to ground semantic information in symbolic descriptions. We hypothesise that for a robot to successfully stack objects of different dispositions, these relationships can be used to more intelligently identify both task constraints and relevant event segments.conference paper29 26