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Towards a Framework for Visual Intelligence
in Service Robotics:
Epistemic Requirements and Gap Analysis
Agnese Chiatti, Enrico Motta, Enrico Daga
@isdsou
@agnese_chiatti
@enridaga
Research scope
2
HANS:
the Health & Safety
Robot Inspector
(Bastianelli et al., 2018)
Research scope
From perception
to sensemaking
3
Research scope
Visual Intelligence
a robot’s ability to use its vision system,​
reasoning components and background knowledge
to make sense ​of the environment.
4
Linked with common sense
Experiential
Cross-sectional
(Space, Time, Physics,…)
5
Background and context
ML limitations (Marcus, 2018; Parisi et al., 2019; Mancini et al., 2019)
Many types of knowledge needed and equally important
(Storks et al., 2019; Davis and Marcus, 2015)
humans are “geniuses at Vision”
(Lake et al., 2017; Hoffman, 2000)
Promise of hybrid methods (Gouidis et al., 2019; Aditya et al., 2019)
Which knowledge representations to leverage? (Daruna et al., 2018)
6
What are the epistemicingredients required
by service robots to exhibit high-performance
Visual Intelligence?
Research Questions
Requirement
Analysis
7
Which ingredients are more important,
in a real-world application?
Epistemic ingredients = knowledge properties + reasoning capabilities
To what extent do state-of-the-art
Knowledge Bases provide
for the required knowledge properties?
Research Questions
KB evaluation/
Coverage study
8
Top-down analysis
9
Bottom-up analysis
Object recognition pipeline purely based on ML
(Chiatti et al., 2020)
Out of 896 test regions, 272 (31.59%) were mis-classified
Which capability/-ies or knowledge property/-ies can help?
10
Bottom-up analysis
11
Composition
ality
Generic
2D views
Motion Vision Machine
Reading
Model
building
Causality
Inadequatetaxonomy
Affordances
Intuitive
Physics
Top-down + bottom-up
12
KB coverage study
13
14
Size-based reasoning
To conclude
Machine Visual Intelligence vs. Human Visual Intelligence
15
We have defined a framework of requirements
to enhance the Visual Intelligence of service robots
The bottom-up analysis & KB evaluation provide
a research agenda for KR & Robot Vision
Currently: size-based reasoner + meta-reasoning mechanisms
Thank you!
Q&A
@isdsou
@agnese_chiatti
@enridaga

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Towards a Framework for Visual Intelligence in Service Robotics: Epistemic Requirements and Gap Analysis