The Object Schema Model and Situational Context

On our Trisk robotic manipulation platform, we have implemented a conceptual representation based around object schemas, which organize all perceptions, motor actions, planning structures, and natural language use according to the objects that they are “about.” This representation provides a clear point of interaction between the discrete domains of task-level planning and language use, and the continuous dynamic domain of sensorimotor interaction. In this paper we briefly summarize our model and our results, implemented on a robotic manipulation platform in a simple tabletop domain. We conclude by proposing to use situational context to enable scalability to more complex domains.