fig3

Figure 3. The process of ATC. (A) Using its visual system, the service robot can detect objects (e.g., a coffee maker, a cup, etc.) in the image; (B) By extracting relationships among objects and the environment, the robot can reason about executable and suitable task information (including service scene, objects support, and task category) from the current perspective. The information is used for task planning and execution. ATC: Active task cognition.