News and Blog

2018.06.22 GOSC‘18 - Shixin Li - First Month Work

For the first month as a GSoCer in the Institute for Artificial Intelligence , my work is mainly in converting the existing uima-cpp project , which is built with autotools, to a CMake/ROS-build project.

To be more specific, I wrote new CMake-related scripts and ros-related configuration files, such as package.xml for uima-ros project and got rid of dependency of all the autotools scripts. Meanwhile, I also modified the Robosherlock CMake-related files so as to integrate with the new UIMA-ros project, to make sure the new RS can include and link to uima-ros headers and libraries as before. After test, this part is regarded as completed, and ready to be released as a debian package.

2018.06.22 RSParallelPipelinePlanner GSOC‘18: An T. Le

Introduction

The project is going on track as required by the scope of RoboSherlock on this year GSOC.

Two things have been completed:

  • Implement RSParallelPipelinePlanner that is able to mark execution orderings of annotators based on their required inputs and outputs.
  • Examine UIMACPP code repository, gain a deep level of how a AnalysisEngine execution calls annotators’ process.

All implementation so far does not require new dependencies.

Approaches

RSParallelPipelinePlanner planning approach is according to the flow:

  1. Query annotator input output data from knowrob and store as std::map of annotator name and pair of input output list.
  2. Build dependency graph from input output requirements of each annotator as Directed Graph
  3. Generate annotator orderings marker based on the designed graph traveling algorithm.
  4. Refine orderings to treat standalone annotators to execute last.

At current state, RSParallelPipelinePlanner works closely with RSControledAnalysisEngine. When a query is posted, the planner is triggered to query input output requirements of new pipeline annotator list. It then build dependency graph and run ordering marker, the pipeline structure is finally extracted from the markers. This model is foundation for next phase implementation of parallel annotators’ execution.

Results

Executing query {"detect":{"color":"red", "shape":"flat"}} will produce the result below:

../_images/orderings.png

2018.05.18 GOSC‘18

We are happy to announce that the Institute for Artificial Intelligence has been accepted as a mentoring organization for this years Google Summer of Code. Three students will be actively working on improoving the RoboSherlock framework. An Le Thai, will implement functionalities for CAS splitting and merging as well as different strategies for these, while also looking into paralelle execution of AEs. Shingo Kitagawa will be investigating ways of implementing annotators in native Python code, and integrating deep learning approaches. Shixin Li will look into modernizing the uimacpp library and releasing it as a ROS package, paving the way for a future release of the RoboSherlock framework as a binary package. We wish them all success for the upcomming months.

2017.05.28 GOSC‘17

RoboSherlock is participating in this years Google Summer of Code, under the umbrealla of the Institute for Artificial Intelligence. Mykola Dolhyi and An Le Thai are going to be working on implementing/integrating algorithms for hypotheses generation. We hope to have a successful collaboration during the upcomming months.
../_images/gsoc.jpg

2016.04.21 RoboSherlock at ICRA16

Our paper [1] on taskability of perception has been accepted at this years ICRA, in Stockholm, Sweeden. The paper presents an extension to RoboSherlock that allows a tighter coupling between knowledge processing and perception.

2016.01.17 RoboSherlock at ERF2016

../_images/erf2016_logo.png

We are happy to announce that the latest advances of RoboSherlock will be persented at the European Robotics Forum 2016 in Ljubljana, Slovenia, as part of the ‘Believing in Robot’s Eyes - Robust Observation of Task Relevant Cues’ Workshop.

2015.12.01 - RoboSherlock Released

The core implementation of RoboSherlock is now available as an open-source ROS package. Details about installation and getting started on the documentations web-page.

2015.05.28 - RoboSherlock at ICRA15

The reference paper presenting the ideas behind RoboSherlock [2] received the Best Service Robotics Paper Award and was finalist for the Best conferenc Paper Award at ICRA‘15 in Seattle, USA.

../_images/2015-icra-robosherlock-paper-award.png