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Kitchen Robot Knowledge Graph

Knowledge graph enabled vritual reality for a kitchen domain robot

Introduction

This is the Masters thesis project of Anna de Groot as a part of the MSc AI program at the Vrije Universiteit, Amsterdam. The project investigates the use of structured sources from the web to create a knowledge graph that can provide kitchen-related commonsense information to a kitchen domain robot. Specifically, information is extracted from ConceptNet and the RecipePuppy API. After a knowledge graph prototype is built, it is implemented in a virtual reality game application (see images below). The project was completed in collaboration with the Institute of Artificial Intelligence at the University of Bremen (https://ai.uni-bremen.de/).

Implementation Details

Python 3.7 was used for building the knowledge graph. The main Python libraries used are RDFLib and Owlready2. SpaCy was also used for some natural language preprocessing. The VR application was built using the Unity game engine (version 2018.4.26) with the programming language C#. The knowledge graph's data is stored in the linked data host by TriplyDB and data is retrieved through REST API calls. Through Triply's query service, RDFS and OWL reasoning are applied over the graphs for certain queries.

Knowledge Graph Build Process

The project builds different graphs which are linked at the end to create one large graph.

First, the scripts in the ontologies/ directory are run to create the base of the knowledge graph. These are merged using the script 'merge_aff_bft.py'.

Next, data is retrieved from each API (use files in data/), which are then merged to the final graph using the notebooks 'merge_cn' and 'merge_recipe' found in knowledge_graph/.

The graphs from each iteration are found in the folder knowledge_graphs/graphs/.

Example triples from the complete knowledge graph:

bft:apple a bft:Fruit,
        owl:NamedIndividual ;
    rp:has_recipe rp:Allo_Aloe,
        rp:Apple_Bites,
        rp:Mixed_Greens_Salad_With_Apples_and_Maple-Walnut_Oil_Dressing,
        rp:Mixed_Nut_Waldorf_Salad;
    owl:sameAs <http://api.conceptnet.io/c/en/apple>,
        <http://api.conceptnet.io/c/en/apple/n>,
        <http://api.conceptnet.io/c/en/apples>,
        rp:apple ;
    skos:closeMatch <http://api.conceptnet.io/c/ambrosia_apple/n>,
        cnc:apple_orchard,
        cnc:apple_tree .

<http://api.conceptnet.io/c/en/apple/n/wn/plant> a cn:Concept ;
    cnr:ExternalURL <http://wordnet-rdf.princeton.edu/wn31/112654755-n> ;
    cnr:IsA <http://api.conceptnet.io/c/en/apple_tree/n/wn/plant> .

Content

  • MR-App/ contains: C# scripts for the game and the Unity game scene file.
  • ontologies/ contains:
    • aff/ : script that creates the Affordance Ontology. Ontology is saved as a .nt, .ttl, and .owl file.
    • bft/ : This is the ontology about kitchen concepts. Script that creates the Affordance Ontology. Ontology is saved as a .nt, .ttl, and .owl file.
  • data/ contains:

    • ConceptNet/ :

      • cn_data/ :
        • filtered_data/ : Csv data files that were preprocessed.
        • requests_output/ : Output files from 'conceptnet_main.py'.
      • parse/ :
        • Script creates a graph out of the ConceptNet data.
        • Resulting output files.
      • Scripts that retrieve data from the API.

    • RecipePuppy/ :

      • requests_output/ : Output files from 'recipe_puppy.ipynb'.
      • Python notebook that extracts data from the API and python script that stores the data in a graph.
      • Output files.
  • knowledge-graph/ contains:
    • graphs/ : graphs from each iteration (KitchenConcepts+Affordance graph (aff_bft_open_graph.ttl), KitchenConcepts+Affordance+ConceptNet graph (aff_bft_cn.ttl), KitchenConcepts+Affordance+ConceptNet+RecipePuppy graph (aff_bft_cn_recipe.ttl).
    • Notebooks and script that merges the graphs together.
    • Miscellaneous output files.