KnowRob is a knowledge processing system that combines knowledge representation and reasoning methods with techniques for acquiring knowledge and for grounding the knowledge in a physical system and can serve as a common semantic framework for integrating information from different sources. KnowRob combines static encyclopedic knowledge, common-sense knowledge, task descriptions, environment models, object information and information about observed actions that has been acquired from various sources (manually axiomatized, derived from observations, or imported from the web). It supports different deterministic and probabilistic reasoning mechanisms, clustering, classification and segmentation methods, and includes query interfaces as well as visualization tools.
All the software that has been developed as part of the project have been released to the public as open-source software. By releasing the code and data to the public, we would like to enable others to replicate the experiments made and to profit from the experiences and implementations in the system.
The software is available as ROS packages in the KnowRob stack and the tum-ros-pkg repository.
In addition to the publications listed below, there is documentation in the ROS wiki and the |KnowRob wiki.
Representation and Exchange of Knowledge about Actions, Objects, and Environments in the RoboEarth Framework , In IEEE Transactions on Automation Science and Engineering (T-ASE), 2013.(Accepted for publication.) [bib] |
Ensembles of Strong Learners for Multi-cue Classification , In Pattern Recognition Letters (PRL), Special Issue on Scene Understandings and Behaviours Analysis, 2012.(In press.) [bib] [pdf] |
RoboEarth - A World Wide Web for Robots , In Robotics & Automation Magazine, IEEE, volume 18, 2011. [bib] |
Web-enabled Robots -- Robots that Use the Web as an Information Resource , In Robotics & Automation Magazine, IEEE, volume 18, 2011. [bib] [pdf] |
Knowledge Representation for Cognitive Robots , In Künstliche Intelligenz, Springer, volume 24, 2010. [bib] [pdf] |
Towards Performing Everyday Manipulation Activities , In Robotics and Autonomous Systems, Elsevier, volume 58, 2010. [bib] [pdf] |
Towards Automated Models of Activities of Daily Life , In Technology and Disability, IOS Press, volume 22, 2010. [bib] [pdf] |
Learning Probability Distributions over Partially-Ordered Human Everyday Activities , In IEEE International Conference on Robotics and Automation (ICRA), 2013.(Accepted for publication.) [bib] |
Action sequencing and error production in stroke patients with apraxia -- Behavioral modeling using Bayesian Logic Networks , In 6th International Conference on Health Informatics (HEALTHINF 2013), 2013.(Accepted for publication.) [bib] |
Knowledge Processing for Autonomous Robot Control , In AAAI Spring Symposium on Designing Intelligent Robots: Reintegrating AI, 2012. [bib] [pdf] |
The RoboEarth language: Representing and Exchanging Knowledge about Actions, Objects, and Environments , In IEEE International Conference on Robotics and Automation (ICRA), 2012.(Best Cognitive Robotics Paper Award.) [bib] [pdf] |
A Unified Representation for Reasoning about Robot Actions, Processes, and their Effects on Objects , In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012. [bib] [pdf] |
The SHERPA project: smart collaboration between humans and ground-aerial robots for improving rescuing activities in alpine environments , In IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2012. [bib] [pdf] |
Learning Organizational Principles in Human Environments , In IEEE International Conference on Robotics and Automation (ICRA), 2012. [bib] [pdf] |
Searching Objects in Large-scale Indoor Environments: A Decision-thereotic Approach , In IEEE International Conference on Robotics and Automation (ICRA), 2012. [bib] [pdf] |
Semantic Object Maps for Robotic Housework - Representation, Acquisition and Use , In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012. [bib] [pdf] |
A Generalized Framework for Opening Doors and Drawers in Kitchen Environments , In IEEE International Conference on Robotics and Automation (ICRA), 2012. [bib] [pdf] |
RoboEarth Action Recipe Execution , In 12th International Conference on Intelligent Autonomous Systems, 2012. [bib] [pdf] |
Exchange of Action-related Information among Autonomous Robots , In 12th International Conference on Intelligent Autonomous Systems, 2012. [bib] [pdf] |
Semantic Object Maps for Household Tasks , In 5th International Conference on Cognitive Systems (CogSys 2012), 2012. [bib] [pdf] |
CRAM -- a Cognitive Robot Abstract Machine , In 5th International Conference on Cognitive Systems (CogSys 2012), 2012. [bib] [pdf] |
Robotic Roommates Making Pancakes , In 11th IEEE-RAS International Conference on Humanoid Robots, 2011. [bib] [pdf] |
How-Models of Human Reaching Movements in the Context of Everyday Manipulation Activities , In IEEE International Conference on Robotics and Automation (ICRA), 2011. [bib] [pdf] |
Towards Semantic Robot Description Languages , In IEEE International Conference on Robotics and Automation (ICRA), 2011. [bib] [pdf] |
Logic Programming with Simulation-based Temporal Projection for Everyday Robot Object Manipulation , In 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011.(Best Student Paper Finalist.) [bib] [pdf] |
Simulation-based Temporal Projection of Everyday Robot Object Manipulation , In Proc. of the 10th Int. Conf. on Autonomous Agents and Multiagent Systems (AAMAS 2011) (Yolum, Tumer, Stone, Sonenberg, eds.), IFAAMAS, 2011. [bib] [pdf] |
Understanding and Executing Instructions for Everyday Manipulation Tasks from the World Wide Web , In IEEE International Conference on Robotics and Automation (ICRA), 2010. [bib] [pdf] |
Priming Transformational Planning with Observations of Human Activities , In IEEE International Conference on Robotics and Automation (ICRA), 2010. [bib] [pdf] |
KNOWROB-MAP -- Knowledge-Linked Semantic Object Maps , In 10th IEEE-RAS International Conference on Humanoid Robots, 2010. [bib] [pdf] |
Putting People's Common Sense into Knowledge Bases of Household Robots , In 33rd Annual German Conference on Artificial Intelligence (KI 2010), Springer, 2010. [bib] [pdf] |
Combining Perception and Knowledge Processing for Everyday Manipulation , In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010. [bib] [pdf] |
CRAM -- A Cognitive Robot Abstract Machine for Everyday Manipulation in Human Environments , In IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010. [bib] [pdf] |
KnowRob -- Knowledge Processing for Autonomous Personal Robots , In IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009. [bib] [pdf] |
Towards Automated Models of Activities of Daily Life , In First International Symposium on Quality of Life Technology -- Intelligent Systems for Better Living, 2009. [bib] [pdf] |
Visual Scene Detection and Interpretation using Encyclopedic Knowledge and Formal Description Logic , In Proceedings of the International Conference on Advanced Robotics (ICAR)., 2009. [bib] [pdf] |
The Assistive Kitchen -- A Demonstration Scenario for Cognitive Technical Systems , In IEEE 17th International Symposium on Robot and Human Interactive Communication (RO-MAN), Muenchen, Germany, 2008.(Invited paper.) [bib] [pdf] |
Towards a Networked Robot Architecture\\ for Distributed Task Execution and Knowledge Exchange , In Third International Workshop on Standards and Common Platforms for Robotics (SCPR 2012), in conjunction with SIMPAR 2012, 2012. [bib] [pdf] |
Semantic Object Search in Large-scale Indoor Environments , In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Workshop on Active Semantic Perception and Object Search in the Real World, 2011. [bib] [pdf] |
Inferring Generalized Pick-and-Place Tasks from Pointing Gestures , In IEEE International Conference on Robotics and Automation (ICRA), Workshop on Semantic Perception, Mapping and Exploration, 2011. [bib] [pdf] |
The TUM Kitchen Data Set of Everyday Manipulation Activities for Motion Tracking and Action Recognition , In IEEE International Workshop on Tracking Humans for the Evaluation of their Motion in Image Sequences (THEMIS), in conjunction with ICCV2009, 2009. [bib] [pdf] |
Towards Practical and Grounded Knowledge Representation Systems for Autonomous Household Robots , In Proceedings of the 1st International Workshop on Cognition for Technical Systems, München, Germany, 6-8 October, 2008. [bib] [pdf] |
Creating and using RoboEarth object models , IEEE International Conference on Robotics and Automation (ICRA), 2012. [bib] |
Knowledge Processing for Autonomous Robots , PhD thesis, Technische Universität München, 2011. [bib] |
A Robot that Shops for and Stores Groceries , AAAI Video Competition (AIVC 2011), 2011. [bib] |
Deliverable D5.2: The RoboEarth Language -- Language Specification , Technical report, FP7-ICT-248942 RoboEarth, 2010. [bib] |
Understanding and Executing Instructions for Everyday Manipulation Tasks from the World Wide Web , Technical report, IAS group, Technische Universität München, Fakultät für Informatik, 2009. [bib] [pdf] |