A Knowledge Retrieval Framework for Household Objects and Actions with External Knowledge

In the field of domestic cognitive robotics, it is important to have a rich representation of knowledge about how household objects are related to each other and with respect to human actions. In this paper, we present a domain dependent knowledge retrieval framework for household environments which was constructed by extracting knowledge from the VirtualHome dataset (http://virtual-home.org). The framework provides knowledge about sequences of actions on how to perform human scaled tasks in a household environment, answers queries about household objects, and performs semantic matching between entities from the web knowledge graphs DBpedia, ConceptNet, and WordNet, with the ones existing in our knowledge graph. We offer a set of predefined SPARQL templates that directly address the ontology on which our knowledge retrieval framework is built, and querying capabilities through SPARQL. We evaluated our framework via two different user evaluations.