Efficiency-Driven Adaptive Task Planning for Household Robot Based on Hierarchical Item-Environment Cognition
提出一种效率驱动的自适应任务规划方法，通过分层认知物品属性和环境关系，提升家庭机器人执行陌生家务任务的成功率和效率。
Task planning focused on household robots represents a conventional yet complex research domain, necessitating the development of task plans that enable robots to execute unfamiliar household services. This area has garnered significant research interest due to its extensive applications in robotics, particularly concerning household robots. Nevertheless, the majority of task planning methodologies exhibit suboptimal performance regarding the success and efficiency of completing household tasks, primarily due to a lack of cognitive capacity of household items and home environments. To address these challenges, we propose an efficiency-driven adaptive task planning approach based on hierarchical item-environment cognition. Initially, we establish a multiple semantic attribute-based priori knowledge (MSAPK) framework to facilitate the attributive representation of household items. Utilizing MSAPK, we develop a long short-term memory (LSTM) based item cognition model that assigns relevant attributes and substitutes to specified household items, thereby enhancing the cognitive capabilities of household robots at the attribute level. Subsequently, we construct an environment cognition model that delineates the relationships between household items and room types, enabling household robots to locate target items more efficiently. Through hierarchical item-environment cognition, we introduce a strategy for adaptive task planning, empowering household robots to execute household tasks with both flexibility and efficiency. The generated plans are evaluated in both virtual and real-world experiments, with promising results affirming the effectiveness of our proposed methodology.