Closed Loop Interactive Embodied Reasoning for Robot Manipulation
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F25%3A00381860" target="_blank" >RIV/68407700:21230/25:00381860 - isvavai.cz</a>
Alternative codes found
RIV/68407700:21730/25:00381860
Result on the web
<a href="https://doi.org/10.1109/ICRA55743.2025.11127480" target="_blank" >https://doi.org/10.1109/ICRA55743.2025.11127480</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICRA55743.2025.11127480" target="_blank" >10.1109/ICRA55743.2025.11127480</a>
Alternative languages
Result language
angličtina
Original language name
Closed Loop Interactive Embodied Reasoning for Robot Manipulation
Original language description
Embodied reasoning systems integrate robotic hardware and cognitive processes to perform complex tasks, typically in response to a natural language query about a specific physical environment. This usually involves changing the belief about the scene or physically interacting and changing the scene (e.g. sort the objects from lightest to heaviest). In order to facilitate the development of such systems we introduce a new modular Closed Loop Interactive Embodied Reasoning (CLIER) approach that takes into account the measurements of non-visual object properties, changes in the scene caused by external disturbances as well as uncertain outcomes of robotic actions. CLIER performs multi-modal reasoning and action planning and generates a sequence of primitive actions that can be executed by a robot manipulator. Our method operates in a closed loop, responding to changes in the environment. Our approach is developed with the use of MuBle simulation environment and tested in 10 interactive benchmark scenarios. We extensively evaluate our reasoning approach in simulation and in real-world manipulation tasks with a success rate above 76% and 64%, respectively.
Czech name
—
Czech description
—
Classification
Type
D - Article in proceedings
CEP classification
—
OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2025
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
2025 IEEE International Conference on Robotics and Automation (ICRA)
ISBN
979-8-3315-4140-8
ISSN
1050-4729
e-ISSN
1050-4729
Number of pages
8
Pages from-to
13722-13729
Publisher name
IEEE Industrial Electronic Society
Place of publication
Vienna
Event location
Atlanta
Event date
May 19, 2025
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
001614889900214