{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,8,11]],"date-time":"2024-08-11T05:12:09Z","timestamp":1723353129902},"publisher-location":"California","reference-count":0,"publisher":"International Joint Conferences on Artificial Intelligence Organization","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2023,9]]},"abstract":"<jats:p>Aging societies, labor shortages and increasing wage costs call for assistance robots capable of autonomously performing a wide array of real-world tasks. Such open-ended robotic manipulation requires not only powerful knowledge representations and reasoning (KR&amp;R) algorithms, but also methods for humans to instruct robots what tasks to perform and how to perform them. In this paper, we present a system for automatically generating executable robot control programs from human task demonstrations in virtual reality (VR). We leverage common-sense knowledge and game engine-based physics to semantically interpret human VR demonstrations, as well as an expressive and general task representation and automatic path planning and code generation, embedded into a state-of-the-art cognitive architecture. We demonstrate our approach in the context of force-sensitive fetch-and-place for a robotic shopping assistant. The source code is available at https:\/\/github.com\/ease-crc\/vr-program-synthesis.<\/jats:p>","DOI":"10.24963\/kr.2023\/4","type":"proceedings-article","created":{"date-parts":[[2023,7,31]],"date-time":"2023-07-31T18:27:47Z","timestamp":1690828067000},"page":"34-43","source":"Crossref","is-referenced-by-count":1,"title":["Knowledge-Driven Robot Program Synthesis from Human VR Demonstrations"],"prefix":"10.24963","author":[{"given":"Benjamin","family":"Alt","sequence":"first","affiliation":[{"name":"ArtiMinds Robotics"},{"name":"University of Bremen"}]},{"given":"Franklin","family":"Kenghagho Kenfack","sequence":"additional","affiliation":[{"name":"University of Bremen"}]},{"given":"Andrei","family":"Haidu","sequence":"additional","affiliation":[{"name":"University of Bremen"}]},{"given":"Darko","family":"Katic","sequence":"additional","affiliation":[{"name":"ArtiMinds Robotics"}]},{"given":"Rainer","family":"J\u00e4kel","sequence":"additional","affiliation":[{"name":"ArtiMinds Robotics"}]},{"given":"Michael","family":"Beetz","sequence":"additional","affiliation":[{"name":"University of Bremen"}]}],"member":"10584","event":{"number":"20","sponsor":["Artificial Intelligence Journal","Principles of Knowledge Representation and Reasoning Inc.","Academic College of Tel-Aviv","European Association for Artificial Intelligence","National Science Foundation"],"acronym":"KR-2023","name":"20th International Conference on Principles of Knowledge Representation and Reasoning {KR-2023}","start":{"date-parts":[[2023,9,2]]},"theme":"Artificial Intelligence","location":"Rhodes, Greece","end":{"date-parts":[[2023,9,8]]}},"container-title":["Proceedings of the Twentieth International Conference on Principles of Knowledge Representation and Reasoning"],"original-title":[],"deposited":{"date-parts":[[2023,7,31]],"date-time":"2023-07-31T18:27:53Z","timestamp":1690828073000},"score":1,"resource":{"primary":{"URL":"https:\/\/proceedings.kr.org\/2023\/4"}},"subtitle":[],"proceedings-subject":"Artificial Intelligence Research Articles","short-title":[],"issued":{"date-parts":[[2023,9]]},"references-count":0,"URL":"https:\/\/doi.org\/10.24963\/kr.2023\/4","relation":{},"subject":[],"published":{"date-parts":[[2023,9]]}}}