{"id":1459,"date":"2023-07-19T00:43:00","date_gmt":"2023-07-18T16:43:00","guid":{"rendered":"https:\/\/tongjicdi.com\/?p=1459"},"modified":"2025-05-29T20:34:46","modified_gmt":"2025-05-29T12:34:46","slug":"an-interactive-learning-framework-foritem-ownership-relationship-inservice-robots","status":"publish","type":"post","link":"https:\/\/tongjicdi.com\/index.php\/2023\/07\/19\/an-interactive-learning-framework-foritem-ownership-relationship-inservice-robots\/","title":{"rendered":"An Interactive Learning Framework forItem Ownership Relationship inService Robots"},"content":{"rendered":"\t\t<div data-elementor-type=\"wp-post\" data-elementor-id=\"1459\" class=\"elementor elementor-1459\" data-elementor-post-type=\"post\">\n\t\t\t\t<div class=\"elementor-element elementor-element-39c48e40 e-flex e-con-boxed e-con e-parent\" data-id=\"39c48e40\" data-element_type=\"container\">\n\t\t\t\t\t<div class=\"e-con-inner\">\n\t\t\t\t<div class=\"elementor-element elementor-element-32484978 elementor-widget elementor-widget-theme-post-featured-image elementor-widget-image\" data-id=\"32484978\" data-element_type=\"widget\" data-widget_type=\"theme-post-featured-image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<style>\/*! elementor - v3.22.0 - 24-06-2024 *\/\n.elementor-widget-image{text-align:center}.elementor-widget-image a{display:inline-block}.elementor-widget-image a img[src$=\".svg\"]{width:48px}.elementor-widget-image img{vertical-align:middle;display:inline-block}<\/style>\t\t\t\t\t\t\t\t\t\t<img fetchpriority=\"high\" decoding=\"async\" width=\"800\" height=\"165\" src=\"https:\/\/tongjicdi.com\/wp-content\/uploads\/2025\/05\/\u5c40\u90e8\u622a\u53d6_20250528_003543.png\" class=\"attachment-large size-large wp-image-1460\" alt=\"\" srcset=\"https:\/\/tongjicdi.com\/wp-content\/uploads\/2025\/05\/\u5c40\u90e8\u622a\u53d6_20250528_003543.png 877w, https:\/\/tongjicdi.com\/wp-content\/uploads\/2025\/05\/\u5c40\u90e8\u622a\u53d6_20250528_003543-300x62.png 300w, https:\/\/tongjicdi.com\/wp-content\/uploads\/2025\/05\/\u5c40\u90e8\u622a\u53d6_20250528_003543-768x159.png 768w\" sizes=\"(max-width: 800px) 100vw, 800px\" \/>\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-1a0a80d3 elementor-widget elementor-widget-theme-post-title elementor-page-title elementor-widget-heading\" data-id=\"1a0a80d3\" data-element_type=\"widget\" data-widget_type=\"theme-post-title.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<style>\/*! elementor - v3.22.0 - 24-06-2024 *\/\n.elementor-heading-title{padding:0;margin:0;line-height:1}.elementor-widget-heading .elementor-heading-title[class*=elementor-size-]>a{color:inherit;font-size:inherit;line-height:inherit}.elementor-widget-heading .elementor-heading-title.elementor-size-small{font-size:15px}.elementor-widget-heading .elementor-heading-title.elementor-size-medium{font-size:19px}.elementor-widget-heading .elementor-heading-title.elementor-size-large{font-size:29px}.elementor-widget-heading .elementor-heading-title.elementor-size-xl{font-size:39px}.elementor-widget-heading .elementor-heading-title.elementor-size-xxl{font-size:59px}<\/style><h1 class=\"elementor-heading-title elementor-size-default\">An Interactive Learning Framework forItem Ownership Relationship inService Robots<\/h1>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-f328faa elementor-widget elementor-widget-text-editor\" data-id=\"f328faa\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<style>\/*! elementor - v3.22.0 - 24-06-2024 *\/\n.elementor-widget-text-editor.elementor-drop-cap-view-stacked .elementor-drop-cap{background-color:#69727d;color:#fff}.elementor-widget-text-editor.elementor-drop-cap-view-framed .elementor-drop-cap{color:#69727d;border:3px solid;background-color:transparent}.elementor-widget-text-editor:not(.elementor-drop-cap-view-default) .elementor-drop-cap{margin-top:8px}.elementor-widget-text-editor:not(.elementor-drop-cap-view-default) .elementor-drop-cap-letter{width:1em;height:1em}.elementor-widget-text-editor .elementor-drop-cap{float:left;text-align:center;line-height:1;font-size:50px}.elementor-widget-text-editor .elementor-drop-cap-letter{display:inline-block}<\/style>\t\t\t\t<p>Yuanda Hu, Yate Ge, Tianyue Yang, Xiaohua Sun<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-e1c0de8 elementor-widget elementor-widget-text-editor\" data-id=\"e1c0de8\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<p>Human Factors in Robots, Drones and Unmanned Systems (2023)<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-3e424da8 e-flex e-con-boxed e-con e-parent\" data-id=\"3e424da8\" data-element_type=\"container\">\n\t\t\t\t\t<div class=\"e-con-inner\">\n\t\t\t\t<div class=\"elementor-element elementor-element-4121d36e elementor-widget elementor-widget-heading\" data-id=\"4121d36e\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<h2 class=\"elementor-heading-title elementor-size-default\">\u6458\u8981\/Abstract<\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-6dadca55 e-flex e-con-boxed e-con e-parent\" data-id=\"6dadca55\" data-element_type=\"container\">\n\t\t\t\t\t<div class=\"e-con-inner\">\n\t\t<div class=\"elementor-element elementor-element-97ba2d4 e-con-full e-flex e-con e-child\" data-id=\"97ba2d4\" data-element_type=\"container\">\n\t\t\t\t<div class=\"elementor-element elementor-element-57c6a4af elementor-widget elementor-widget-text-editor\" data-id=\"57c6a4af\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<p>\u5305\u62ec\u670d\u52a1\u673a\u5668\u4eba\u5728\u5185\u7684\u81ea\u4e3b\u4ee3\u7406\u9700\u8981\u9075\u5b88\u9053\u5fb7\u4ef7\u503c\u89c2\u3001\u6cd5\u5f8b\u6cd5\u89c4\u548c\u793e\u4f1a\u89c4\u8303\uff0c\u624d\u80fd\u4e0e\u4eba\u7c7b\u6709\u6548\u4e92\u52a8\u3002\u5176\u4e2d\u4e00\u4e2a\u91cd\u8981\u65b9\u9762\u662f\u638c\u63e1\u4eba\u7c7b\u4e0e\u5176\u643a\u5e26\u7269\u54c1\u4e4b\u95f4\u7684\u6240\u6709\u6743\u5173\u7cfb\uff0c\u4ece\u800c\u83b7\u5f97\u5b9e\u9645\u5229\u76ca\u5e76\u52a0\u6df1\u5bf9\u4eba\u7c7b\u793e\u4f1a\u89c4\u8303\u7684\u7406\u89e3\u3002\u6240\u63d0\u51fa\u7684\u6846\u67b6\u4f7f\u673a\u5668\u4eba\u80fd\u591f\u81ea\u4e3b\u6216\u901a\u8fc7\u7528\u6237\u4e92\u52a8\u6765\u5b66\u4e60\u7269\u54c1\u6240\u6709\u6743\u5173\u7cfb\u3002\u81ea\u4e3b\u5b66\u4e60\u90e8\u5206\u57fa\u4e8e\u4eba-\u7269\u4e92\u52a8\uff08HOI\uff09\u68c0\u6d4b\uff0c\u673a\u5668\u4eba\u901a\u8fc7\u8bc6\u522b\u4eba-\u7269\u4e92\u52a8\u4e4b\u95f4\u7684\u76f8\u5173\u6027\u6765\u83b7\u53d6\u7269\u54c1\u6240\u6709\u6743\u77e5\u8bc6\u3002\u4ea4\u4e92\u5f0f\u5b66\u4e60\u7ec4\u4ef6\u5141\u8bb8\u7528\u6237\u4e0e\u673a\u5668\u4eba\u8fdb\u884c\u81ea\u7136\u4ea4\u4e92\uff0c\u4f7f\u7528\u6237\u80fd\u591f\u901a\u8fc7\u5411\u673a\u5668\u4eba\u5c55\u793a\u7269\u54c1\u6765\u8bc1\u660e\u7269\u54c1\u7684\u6240\u6709\u6743\u3002\u5b66\u4e60\u8fc7\u7a0b\u5206\u4e3a\u56db\u4e2a\u9636\u6bb5\uff0c\u4ee5\u5e94\u5bf9\u5728\u73b0\u5b9e\u4e16\u754c\u4e2d\u6539\u53d8\u7269\u54c1\u6240\u6709\u6743\u6240\u5e26\u6765\u7684\u6311\u6218\u3002\u867d\u7136\u6240\u6709\u6743\u5173\u7cfb\u5b66\u4e60\u7684\u8bb8\u591a\u65b9\u9762\u4ecd\u6709\u5f85\u63a2\u7d22\uff0c\u4f46\u672c\u7814\u7a76\u65e8\u5728\u63a2\u7d22\u548c\u8bbe\u8ba1\u670d\u52a1\u673a\u5668\u4eba\u7269\u54c1\u6240\u6709\u6743\u5b66\u4e60\u7684\u4e00\u822c\u65b9\u6cd5\uff0c\u4ee5\u4e86\u89e3\u5176\u9002\u7528\u6027\u548c\u7a33\u5065\u6027\u3002\u5728\u4eca\u540e\u7684\u5de5\u4f5c\u4e2d\uff0c\u6211\u4eec\u5c06\u901a\u8fc7\u6848\u4f8b\u7814\u7a76\u6765\u8bc4\u4f30\u62df\u8bae\u6846\u67b6\u7684\u6027\u80fd\u3002<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-5823c177 e-con-full e-flex e-con e-child\" data-id=\"5823c177\" data-element_type=\"container\">\n\t\t\t\t<div class=\"elementor-element elementor-element-7887792c elementor-widget elementor-widget-text-editor\" data-id=\"7887792c\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<p>Autonomous agents, including service robots, require adherence to moral values, legal regulations, and social norms to interact effectively with humans. A vital aspect of this is the acquisition of ownership relationships between humans and their carrying items, which leads to practical benefits and a deeper understanding of human social norms. The proposed framework enables the robots to learn item ownership relationships autonomously or through user interaction. The autonomous learning component is based on Human-Object Interaction (HOI) detection, through which the robot acquires knowledge of item ownership by recognizing correlations between human-object interactions. The interactive learning component allows for natural interaction between users and the robot, enabling users to demonstrate item ownership by presenting items to the robot. The learning process has been divided into four stages to address the challenges posed by changing item ownership in real-world scenarios. While many aspects of ownership relationship learning remain unexplored, this research aims to explore and design general approaches to item ownership learning in service robots concerning their applicability and robustness. In future work, we will evaluate the performance of the proposed framework through a case study.<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-6872f641 e-flex e-con-boxed e-con e-parent\" data-id=\"6872f641\" data-element_type=\"container\">\n\t\t\t\t\t<div class=\"e-con-inner\">\n\t\t\t\t<div class=\"elementor-element elementor-element-16a94106 elementor-widget elementor-widget-spacer\" data-id=\"16a94106\" data-element_type=\"widget\" data-widget_type=\"spacer.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<style>\/*! elementor - v3.22.0 - 24-06-2024 *\/\n.elementor-column 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elementor-size-default\">\u76f8\u5173\u4fe1\u606f\/Info<\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-67755fd4 e-flex e-con-boxed e-con e-parent\" data-id=\"67755fd4\" data-element_type=\"container\">\n\t\t\t\t\t<div class=\"e-con-inner\">\n\t\t<div class=\"elementor-element elementor-element-2f3a2ac e-con-full e-flex e-con e-child\" data-id=\"2f3a2ac\" data-element_type=\"container\">\n\t\t\t\t<div class=\"elementor-element elementor-element-4145e9a2 elementor-widget elementor-widget-heading\" data-id=\"4145e9a2\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<h2 class=\"elementor-heading-title elementor-size-default\">\u4f5c\u8005\/Authors<br><\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-6af5fb23 elementor-widget elementor-widget-heading\" data-id=\"6af5fb23\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<h2 class=\"elementor-heading-title elementor-size-default\">\u94fe\u63a5\/Link<\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-c6daa2a e-con-full e-flex e-con e-child\" data-id=\"c6daa2a\" data-element_type=\"container\">\n\t\t\t\t<div class=\"elementor-element elementor-element-25dfb57d elementor-widget elementor-widget-text-editor\" data-id=\"25dfb57d\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<p>Yuanda Hu, Yate Ge, Tianyue Yang, Xiaohua Sun<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-6be8094f elementor-widget elementor-widget-text-editor\" data-id=\"6be8094f\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<p>https:\/\/books.google.com\/books?hl=en&lr=&id=_7LQEAAAQBAJ&oi=fnd&pg=PA29&dq=info:vQOr4ARhxJsJ:scholar.google.com&ots=1PecU37P5G&sig=AdXxsfA9SZTJqcuUJkuK6rviPVw<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-4b96605d e-flex e-con-boxed e-con e-parent\" data-id=\"4b96605d\" data-element_type=\"container\">\n\t\t\t\t\t<div class=\"e-con-inner\">\n\t\t\t\t<div class=\"elementor-element elementor-element-476f2189 elementor-widget elementor-widget-spacer\" data-id=\"476f2189\" data-element_type=\"widget\" data-widget_type=\"spacer.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<div class=\"elementor-spacer\">\n\t\t\t<div class=\"elementor-spacer-inner\"><\/div>\n\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-71c1662c 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class=\"elementor-widget-container\">\n\t\t\t<h2 class=\"elementor-heading-title elementor-size-default\">\u56fe\u7247\/Figures<\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-dd49170 e-flex e-con-boxed e-con e-parent\" data-id=\"dd49170\" data-element_type=\"container\">\n\t\t\t\t\t<div class=\"e-con-inner\">\n\t\t\t\t<div class=\"elementor-element elementor-element-25acedb4 elementor-widget elementor-widget-gallery\" data-id=\"25acedb4\" data-element_type=\"widget\" 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.elementor-gallery__item-overlay-content__title{opacity:1}a.elementor-item.elementor-gallery-title{color:var(--galleries-title-color-normal)}a.elementor-item.elementor-gallery-title.elementor-item-active,a.elementor-item.elementor-gallery-title.highlighted,a.elementor-item.elementor-gallery-title:focus,a.elementor-item.elementor-gallery-title:hover{color:var(--galleries-title-color-hover)}a.elementor-item.elementor-gallery-title.elementor-item-active{color:var(--gallery-title-color-active)}.e-con-inner>.elementor-widget-gallery,.e-con>.elementor-widget-gallery{width:var(--container-widget-width);--flex-grow:var(--container-widget-flex-grow)}<\/style>\t\t<div class=\"elementor-gallery__container\">\n\t\t\t\t\t\t\t<a class=\"e-gallery-item elementor-gallery-item elementor-animated-content\" href=\"https:\/\/tongjicdi.com\/wp-content\/uploads\/2025\/05\/\u5c40\u90e8\u622a\u53d6_20250528_003651.png\" data-elementor-open-lightbox=\"no\">\n\t\t\t\t\t<div class=\"e-gallery-image elementor-gallery-item__image\" data-thumbnail=\"https:\/\/tongjicdi.com\/wp-content\/uploads\/2025\/05\/\u5c40\u90e8\u622a\u53d6_20250528_003651.png\" data-width=\"647\" data-height=\"412\" aria-label=\"\" role=\"img\" ><\/div>\n\t\t\t\t\t\t\t\t\t\t\t<div class=\"elementor-gallery-item__overlay\"><\/div>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/a>\n\t\t\t\t\t\t\t<a class=\"e-gallery-item elementor-gallery-item elementor-animated-content\" href=\"https:\/\/tongjicdi.com\/wp-content\/uploads\/2025\/05\/\u957f\u622a\u56fe_20250528_004035.png\" data-elementor-open-lightbox=\"no\">\n\t\t\t\t\t<div class=\"e-gallery-image elementor-gallery-item__image\" data-thumbnail=\"https:\/\/tongjicdi.com\/wp-content\/uploads\/2025\/05\/\u957f\u622a\u56fe_20250528_004035.png\" data-width=\"842\" data-height=\"958\" aria-label=\"\" role=\"img\" ><\/div>\n\t\t\t\t\t\t\t\t\t\t\t<div class=\"elementor-gallery-item__overlay\"><\/div>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/a>\n\t\t\t\t\t<\/div>\n\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t","protected":false},"excerpt":{"rendered":"<p>Autonomous agents, including service robots, require adherence to moral values, legal regulations, and social norms to interact effectively with humans. A vital aspect of this is the acquisition of ownership relationships between humans and their carrying items, which leads to practical benefits and a deeper understanding of human social norms. The proposed framework enables the robots to learn item ownership relationships autonomously or through user interaction. The autonomous learning component is based on Human-Object Interaction (HOI) detection, through which the robot acquires knowledge of item ownership by recognizing correlations between human-object interactions. The interactive learning component allows for natural interaction between users and the robot, enabling users to demonstrate item ownership by presenting items to the robot. The learning process has been divided into four stages to address the challenges posed by changing item ownership in real-world scenarios. While many aspects of ownership relationship learning remain unexplored, this research aims to explore and design general approaches to item ownership learning in service robots concerning their applicability and robustness. In future work, we will evaluate the performance of the proposed framework through a case study.<\/p>\n","protected":false},"author":1,"featured_media":1460,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[27],"tags":[],"class_list":["post-1459","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-hri"],"_links":{"self":[{"href":"https:\/\/tongjicdi.com\/index.php\/wp-json\/wp\/v2\/posts\/1459","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/tongjicdi.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/tongjicdi.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/tongjicdi.com\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/tongjicdi.com\/index.php\/wp-json\/wp\/v2\/comments?post=1459"}],"version-history":[{"count":5,"href":"https:\/\/tongjicdi.com\/index.php\/wp-json\/wp\/v2\/posts\/1459\/revisions"}],"predecessor-version":[{"id":1727,"href":"https:\/\/tongjicdi.com\/index.php\/wp-json\/wp\/v2\/posts\/1459\/revisions\/1727"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/tongjicdi.com\/index.php\/wp-json\/wp\/v2\/media\/1460"}],"wp:attachment":[{"href":"https:\/\/tongjicdi.com\/index.php\/wp-json\/wp\/v2\/media?parent=1459"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/tongjicdi.com\/index.php\/wp-json\/wp\/v2\/categories?post=1459"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/tongjicdi.com\/index.php\/wp-json\/wp\/v2\/tags?post=1459"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}