We examine the mechanisms required to handle everyday activities from the standpoint of cognitive robotics, distinguishing activities on the basis of complexity and transparency. Task complexity (simple or complex) reflects the intrinsic nature of a task, while task transparency (easy or difficult) reflects an agent's ability to identify a solution strategy in a given task. We show how the CRAM cognitive architecture allows a robot to carry out simple and complex activities such as laying a table for a meal and loading a dishwasher afterward. It achieves this by using generalized action plans that exploit reasoning with modular, composable knowledge chunks representing general knowledge to transform underdetermined everyday action requests into motion plans that successfully accomplish the required task. Noting that CRAM does not yet have the ability to deal with difficult activities, we leverage insights from the situation model perspective on the cognitive mechanisms underlying flexible context-sensitive behavior with a view to extending CRAM to overcome this deficit.

中文翻译：

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日常活动中的行动选择和执行：认知机器人和情境模型视角

我们从认知机器人的角度研究处理日常活动所需的机制，根据复杂性和透明度区分活动。任务复杂性（简单或复杂）反映了任务的内在性质，而任务透明度（容易或困难）反映了代理在给定任务中识别解决方案策略的能力。我们展示了 CRAM 认知架构如何允许机器人执行简单和复杂的活动，例如为用餐铺桌子并在之后装载洗碗机。它通过使用广义的行动计划来实现这一点，该计划利用代表一般知识的模块化、可组合的知识块进行推理，将不确定的日常行动请求转换为成功完成所需任务的行动计划。