Scene-Driven Multimodal Knowledge Graph Construction for Embodied AI

Embodied AI is one of the most popular studies in artificial intelligence and robotics, which can effectively improve the intelligence of real-world agents (i.e. robots) serving human beings. Scene knowledge is important for an agent to understand the surroundings and make correct decisions in the varied open world. Currently, knowledge base for embodied tasks is missing and most existing work use general knowledge base or pre-trained models to enhance the intelligence of an agent. For conventional knowledge base, it is sparse, insufficient in capacity and cost in data collection. For pre-trained models, they face the uncertainty of knowledge and hard maintenance. To overcome the challenges of scene knowledge, we propose a scene-driven multimodal knowledge graph (Scene-MMKG) construction method combining conventional knowledge engineering and large language models. A unified scene knowledge injection framework is introduced for knowledge representation. To evaluate the advantages of our proposed method, we instantiate Scene-MMKG considering typical indoor robotic functionalities (Manipulation and Mobility), named ManipMob-MMKG. Comparisons in characteristics indicate our instantiated ManipMob-MMKG has broad superiority in data-collection efficiency and knowledge quality. Experimental results on typical embodied tasks show that knowledge-enhanced methods using our instantiated ManipMob-MMKG can improve the performance obviously without re-designing model structures complexly. Our project can be found at https://sites.google.com/view/manipmob-mmkg

2.5D Image based Robotic Grasping

We consider the problem of robotic grasping using depth + RGB information sampling from a real sensor. we design an encoder-decoder neural network to predict grasp policy in real time. This method can fuse the advantage of depth image and RGB image at the same time and is robust for grasp and observation height.We evaluate our method in a physical robotic system and propose an open-loop algorithm to realize robotic grasp operation. We analyze the result of experiment from multi-perspective and the result shows that our method is competitive with the state-of-the-art in grasp performance, real-time and model size. The video is available in https://youtu.be/Wxw_r5a8qV0