Learning spatial relations from functional simulation
Kristoffer Sjöö, Patric Jensfelt · 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems · 2011
Robots acting in complex environments need not only be aware of objects, but also of the relationships objects have with each other. This paper suggests a conceptualization of these relationships in terms of task-relevant functional distinctions, such as support, location control, protection and confinement. Being able to discern such relations in a scene will be important for robots in practical tasks; accordingly, it is demonstrated how predictive models can be trained using data from physics simulations. The resulting models are shown to be both highly predictive and intuitively reasonable.